Control apparatus for autonomously navigating utility vehicle

• US 9,817,398 B2
• Filed: 03/24/2016
• Issued: 11/14/2017
• Est. Priority Date: 03/27/2015
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Yamamura, Makoto, Kawakami, Toshiaki
• Primary Examiner(s): PAIGE, TYLER D
• Application Number:
  US15/080,205
• Publication Number:
  US 20160282869A1
• Time in Patent Office: 600 Days
• Field of Search: 701 25, 700259
• 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 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0217 in accordance with energy consumption, time reduction or distance reduction criteria
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

In an apparatus for controlling operation of an autonomously navigating utility vehicle equipped with a prime mover to travel about a working area delineated by a boundary wire in order to perform work autonomously, there are provided with an objective location identifying unit that identifies a location of an objective in the working area, a route generating unit that generates a target return route for the vehicle to return to the objective, and a travel controlling unit that controls operation of the prime mover to make the vehicle travel along the target return route. The route generating unit selects, among a first set of radial lines imaginarily drawn on the working area to radiate from the position of the vehicle and a second set of radial lines imaginarily drawn on the working area to radiate from the objective, a first radial line and a second radial line that result in shortest distance from the position of the vehicle to the objective and generates the target return route by the first radial line and the second radial line.

Claims

1. An apparatus for controlling operation of an autonomously navigating utility vehicle equipped with a prime mover to travel about a working area delineated by a boundary wire in order to perform work autonomously, comprising:

a position detector that detects a position of the vehicle in the working area;

an objective location identifying unit that identifies a location of an objective in the working area;

a route generating unit that generates a target return route for the vehicle to return from the position detected by the position detector to the location of the objective;

wherein to generate the target return route, the route generating unit selects, among a first set of radial lines imaginarily drawn on the working area to radiate from the position of the vehicle and a second set of radial lines imaginarily drawn on the working area to radiate from the location of the objective, a first radial line and a second radial line that result in a shortest distance from the position of the vehicle to the location of the objective, and generates the target return route by the first radial line and the second radial line;

wherein the route generating unit calculates intersection points of the first set of radial lines and the second set of radial lines on the working area, and selects a target intersection point among the calculated intersection points such that the first radial line and the second radial line result in the shortest distance from the position of the vehicle to the location of the objective when connected with each other via the target intersection point; and

a travel controlling unit that controls operation of the prime mover to make the vehicle travel along the target return route generated by the route generating unit.

2. The apparatus according to claim 1, wherein the route generating unit calculates first intersection points where the first set of radial lines and the boundary wire intersect and second intersection points where the second set of radial lines and the boundary wire intersect, and among the first intersection points and the second intersection points, selects a first target intersection point and a second target intersection point connected to a boundary route segment such that the first radial line and the second radial line along the boundary route segment result in the shortest distance from the position of the vehicle to the location of the objective when connected with each other via the first target intersection point and the second target intersection point.

3. The apparatus according to claim 1, wherein the route generating unit generates the target return route on a map of the working area that is formed by arraying multiple cells and that represents the first set of radial lines and the second set of radial lines imaginarily drawn on the working area.

4. The apparatus according to claim 1, further including:

an obstacle detector that detects an obstacle present before the vehicle; and

the travel controlling unit controls operation of the prime mover to make the vehicle back up when the obstacle is detected by the obstacle detector.

5. The apparatus according to claim 1, wherein the first set of radial lines and the second set of radial lines are imaginarily drawn on the working area to radiate at predetermined angular increments.

6. A method for controlling operation of an autonomously navigating utility vehicle equipped with a prime mover to travel about a working area delineated by a boundary wire in order to perform work autonomously, the method comprising:

detecting, with a control apparatus on the vehicle, a position of the vehicle in the working area;

identifying, with the control apparatus, a location of an objective in the working area;

generating, with the control apparatus, a target return route for the vehicle to return from the position of the vehicle to the location of the objective;

wherein generating the target return route for the vehicle comprises selecting, among a first set of radial lines imaginarily drawn on the working area to radiate from the position of the vehicle and a second set of radial lines imaginarily drawn on the working area to radiate from the location of the objective, a first radial line and a second radial line that result in a shortest distance from the position of the vehicle to the location of the objective, and generating the target return route by the first radial line and the second radial line;

wherein generating the target return route for the vehicle comprises calculating intersection points of the first set of radial lines and the second set of radial lines on the working area, and selecting a target intersection point among the calculated intersection points such that the first radial line and the second radial line result in the shortest distance from the position of the vehicle to the location of the objective when connected with each other via the target intersection point; and

controlling, with the control apparatus, operation of the prime mover to make the vehicle travel along the target return route.

7. The method according to claim 6, wherein generating the target return route for the vehicle comprises:

calculating first intersection points where the first set of radial lines and the boundary wire intersect and second intersection points where the second set of radial lines and the boundary wire intersect, and among the first intersection points and the second intersection points, selecting a first target intersection point and a second target intersection point connected to a boundary route segment such that the first radial line and the second radial line along the boundary route segment result in the shortest distance from the position of the vehicle to the location of the objective when connected with each other via the first target intersection point and the second target intersection point.

8. The method according to claim 6, wherein generating the target return route for the vehicle comprises:

generating the target return route on a map of the working area that is formed by arraying multiple cells and that represents the first set of radial lines and the second set of radial lines imaginarily drawn on the working area.

9. The method according to claim 6, further comprising:

detecting, with the control apparatus, an obstacle present before the vehicle;

wherein controlling operation of the prime mover comprises controlling operation of the prime mover to make the vehicle back up when the obstacle is detected.

10. The method according to claim 6, wherein the first set of radial lines and the second set of radial lines are imaginarily drawn on the working area to radiate at predetermined angular increments.