High integrity perception for machine localization and safeguarding

• US 8,818,567 B2
• Filed: 09/11/2008
• Issued: 08/26/2014
• Est. Priority Date: 09/11/2008
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PECHE, JORGE O
• Application Number:
  US12/208,691
• Publication Number:
  US 20100063651A1
• Time in Patent Office: 2,175 Days
• Field of Search: 701/2, 701/23, 701/34, 701/41, 701/50, 701/70, 700/11, 700/13, 700/245, 700/255, 700/258, 700/261, 455/456.1
• US Class Current: 701/2
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

The illustrative embodiments provide a method for processing sensor data and controlling the movement of a vehicle. An operating environment around the vehicle is identified and sensor data is selected from a set of sensors. A dynamic condition is identified using a plurality of different types of sensors on the vehicle. In response to the dynamic condition being identified, the movement of the vehicle is controlled. Sensor data for a plurality of vehicles is managed by receiving sensor data at the plurality of vehicles, each with a plurality of sensors. In response to a selected vehicle within the plurality of vehicles being unable to obtain needed sensor data, collected sensor data from a number of other vehicles in the plurality of vehicles can be obtained to form alternate sensor data used to control the vehicle.

Claims

1. A method for processing sensor data for a vehicle, the method comprising:

identifying a dynamic condition in an environment around the vehicle using a sensor system including a plurality of redundant sensors, wherein the dynamic condition is a real-time change in the environment around the vehicle; and

selecting sensor data from a set of sensors within the plurality of redundant sensors of the sensor system based on the dynamic condition, wherein the identifying step comprises obtaining the environment around the vehicle from a knowledge base that comprises information about the dynamic condition and the plurality of redundant sensors.

2. The method of claim 1, wherein the selecting step comprises:

activating the set of sensors within the plurality of redundant sensors based on the dynamic condition to select the sensor data from the set of sensors within the plurality of redundant sensors.

3. The method of claim 1, wherein the sensor data is selected sensor data and further comprising:

performing localization using the selected sensor data to determine a location of the vehicle.

4. The method of claim 1, wherein at least some of the plurality of redundant sensors are of a same sensor type.

5. The method of claim 4, further comprising:

using the sensor data to detect terrain in a path of the vehicle.

6. The method of claim 1, further comprising:

using the sensor data to detect terrain in a path of the vehicle.

7. The method of claim 1, wherein the plurality of redundant sensors include heterogeneously redundant sensors.

8. The method of claim 7, wherein the set of sensors includes a heterogeneously redundant sensor.