Method for governing a speed of an autonomous vehicle

• US 9,043,129 B2
• Filed: 10/05/2010
• Issued: 05/26/2015
• Est. Priority Date: 10/05/2010
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne, Bonefas, Zachary Thomas
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US12/898,157
• Publication Number:
  US 20120083982A1
• Time in Patent Office: 1,694 Days
• Field of Search: 340/435, 340/436, 701/1, 701/23, 701/96, 701/300, 701/301, 701/302
• US Class Current: 701/301
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• 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 1/0257 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 1/0274 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

A method of adjusting a speed of a mobile machine is provided. Image data of a location is collected where currently generated sensor data and previously generated sensor data indicate a discontinuity in sensor data. The image data is analyzed to determine if a non-motion blur score for the image data is above a threshold value. Then, a speed of the mobile machine is adjusted based on a determination that the non-motion blur score is above the threshold value.

Claims

1. A method of adjusting a speed of a mobile machine based on an obscurant, the method comprising:

a machine controller generating from a first sensor current sensor data for a location;

the machine controller comparing the current sensor data for the location to previously generated sensor data for the location;

based on the comparing, the machine controller determining a discontinuity in sensor data for the location indicating a presence of an object;

responsive to determining the discontinuity in sensor data for the location, the machine controller utilizing a second type of sensor to collect image data of the location;

analyzing the image data to determine if a non-motion blur score for the image data is above a threshold value, wherein the non-motion blur score represents an amount of blurring of at least one edge of the object detected in the image data, and wherein the obscurant is determined to exist if the non-motion blur score is above the threshold value; and

adjusting, by the machine controller, the speed of the mobile machine based on an optical density of the obscurant.

2. The method of claim 1 further comprising:

determining, by the machine controller, the location within an operating environment of the mobile machine where the discontinuity exists between the currently generated data and the previously generated data for the operating environment; and

selecting, by the machine controller, the image data that corresponds to the location where the discontinuity exists between the currently generated data and the previously generated data for the operating environment.

3. The method of claim 1 further comprising:

responsive to a determination that the non-motion blur score for the image data is not above the threshold value, determining, by the machine controller, that an operating environment of the mobile machine includes an obstacle;

determining, by the machine controller, a type of the obstacle and a distance to the obstacle using a sensor system and a knowledge base associated with the mobile machine; and

initiating, by the machine controller, an action for the mobile machine based on the type of and the distance to the obstacle.

4. The method of claim 1 further comprising:

emitting, by a sensor associated with the mobile machine, pulses into an operating environment around the mobile machine;

receiving, by the sensor, reflections of the pulses from objects in the operating environment;

generating, by the machine controller, current data for the operating environment based on the reflections of the pulses;

comparing, by the machine controller, the current data with the previously generated data for the operating environment; and

determining, by the machine controller, whether continuity exists between the current data and the previously generated data.

5. The method of claim 2 wherein the obscurant is at least one of dust, fog, smoke, snow, rain, ash, or steam within the operating environment, and wherein the optical density of the obscurant is a ratio of energy received at the second type of sensor relative to energy transmitting from a point of origin.

6. The method of claim 1 wherein the second type of sensor is a video camera.

7. The method of claim 1 wherein the machine controller adjusts the speed of the mobile machine by decreasing a maximum allowed speed of the mobile machine.

8. The method of claim 3 wherein the action is an avoidance maneuver.

9. The method of claim 1 wherein the mobile machine is one of a plurality of mobile machines performing tasks within an operating environment, and wherein the plurality of mobile machines are in communication with each other via a network.

10. The method of claim 1 wherein the mobile machine is an autonomous mobile robotic machine.

11. The method of claim 1 wherein the machine controller is located on the mobile device.

12. The method of claim 1 wherein the machine controller is located on a remote server device.

13. The method of claim 4 wherein second type of sensor is a video camera.

14. The method of claim 13, further comprising:

associating mapped image data points of previously collected image data to corresponding data points of the currently generated sensor data.