Method for guiding an off-road vehicle along a curved path

• US 9,821,847 B2
• Filed: 11/24/2015
• Issued: 11/21/2017
• Est. Priority Date: 11/24/2015
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Robinson, William D., Schleicher, Tyler D.
• Primary Examiner(s): To, Tuan C.
• Application Number:
  US14/950,590
• Publication Number:
  US 20170144704A1
• Time in Patent Office: 728 Days
• CPC Class Codes: B60Q 9/00 Arrangement or adaptation of signal devices not provided for in one of main groups B60Q1/00 - B60Q7/00 , e.g. haptic signalling
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287

Abstract

As an off-road vehicle traverses a curved path driven by an operator, a data processor determines an error estimate between the points on the curved path and a generally circular perimeter about an estimated center point consistent with alignment of the curved path to the generally circular perimeter in accordance with a least squares algorithm or a modified least squares algorithm. The data processor or user interface provides an indicator to an operator of the vehicle that an arc length or angular displacement of the curved path with respect to the estimated center point is sufficient to estimate accurately the estimated center point and the radius of the generally circular perimeter if the determined error estimate is less than a threshold error.

Claims

1. A method for guiding an off-road vehicle, the method comprising:

collecting and storing location data of measured points, by a location-determining receiver, along a curved path over a time period as an operator of the vehicle manually steers the vehicle along the curved path associated with a generally circular perimeter of a field;

in real-time as the vehicle traverses the curved path, determining, by an electronic data processor, an error estimate between a plurality of points on the curved path and the generally circular perimeter associated with an estimated center point consistent with alignment of the curved path to the generally circular perimeter in accordance with a least squares algorithm or a modified least squares algorithm; and

in real-time as the vehicle traverses the curved path, providing an indicator, via a user interface, to an operator of the vehicle that an arc length or angular displacement of the curved path with respect to the estimated center point is sufficient to estimate accurately the estimated center point and the radius of the generally circular perimeter if the determined error estimate is less than a threshold error, such that the operator can cease or discontinue manually steering the vehicle along the curved path to transition to automatic steering of a spiral path aligned with the generally circular perimeter.

2. The method according to claim 1 wherein the operator manually steers the vehicle over the curved path over the arc length that is greater than approximately forty degrees with respect to the estimated center point.

3. The method according to claim 1 further comprising:

determining one or more radial offset vectors between the curved path and the generally circular perimeter to center the curved path about the estimated center point, each radial offset vector associated with a radial angle and magnitude.

4. The method according to claim 1 further comprising:

determining the spiral path plan for the vehicle to track a majority of the generally circular perimeter at the radius and to track a remainder of the spiral path about the estimated center point at a radius that decreases in radial length.

5. The method according to claim 4 further comprising:

guiding the vehicle along the perimeter and the spiral path plan.

6. The method according to claim 1 wherein the error estimate is determined in units of distance.

7. The method according to claim 1 wherein the indicator comprises a light bar or a graphical representation of a light bar on the user interface of the vehicle.

8. The method according to claim 1 wherein the vehicle automatically switches from a first mode in which the operator manually steers the vehicle to traverse the curved path to a second mode where the vehicle automatically steers or tracks a path plan consistent with the estimated center point and the radius of the generally circular perimeter if the determined error estimate is less than threshold error.

9. The method according to claim 8 further comprising:

providing an alert message or symbol to the operator on the user interface to indicate a transition between the first mode and the second mode.

10. The method according to claim 1 wherein the error estimate comprises a standard deviation of the radius to indicate circle quality.

11. The method according to claim 1 wherein the error estimate is based on estimating a set of estimated center points, where each estimated center point in the set corresponds to a corresponding one of the measured points along the curved path.

12. The method according to claim 11 wherein the error estimate is determined in accordance with the following equation:

C=√

{square root over (x²+y²)},

where C is the estimated center point, x is the X-axis coordinate for the measured point via the location-determining receiver, y is the Y-axis coordinate for the measured point via the location-determining receiver.

13. The method according to claim 1 wherein the error estimate comprises a standard deviation of a set of estimated center points, where each estimated center point in the set corresponds to a corresponding one of the measured points along the curved path.