Obstacle detection system for a work vehicle

• US 10,583,832 B2
• Filed: 05/02/2017
• Issued: 03/10/2020
• Est. Priority Date: 05/02/2017
• Status: Active Grant

• Current Assignee: Autonomous Solutions, Inc., CNH Industrial America LLC (CNH Industrial N.V.)
• Original Assignee: CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Foster, Christopher Alan, Bybee, Taylor Chad, Turpin, Bret Todd, Jeppesen, Chad Brian, Baillio, Brad Abram
• Primary Examiner(s): Kan, Yuri
• Application Number:
  US15/585,025
• Publication Number:
  US 20180319396A1
• Time in Patent Office: 1,043 Days
• CPC Class Codes: A01B 69/001 Steering by means of optical assistance, e.g. television cameras steering devices for road marking vehicles E01C23/163
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B62D 15/0265 Automatic obstacle avoidance by steering
• CPC Class Codes: G01S 13/862 Combination of radar systems with sonar systems
• CPC Class Codes: G01S 13/865 Combination of radar systems with lidar systems
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 15/86 Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
• CPC Class Codes: G01S 15/931 of land vehicles

Abstract

An obstacle detection system for a work vehicle includes a controller having a memory and a processor. The controller is configured to receive a first signal indicative of a position of an obstacle relative to the work vehicle, to determine whether the position of the obstacle corresponds to a position of a movable object coupled to the work vehicle, and to output a second signal indicative of detection of the obstacle in response to determining that the position of the obstacle does not correspond to the position of the movable object.

Claims

1. An obstacle detection system for a work vehicle, comprising:

a controller comprising a memory and a processor, wherein the controller is configured to;

receive a first signal indicative of a first current position of a detected object relative to the work vehicle;

determine a second current position of a movable object coupled to the work vehicle;

determine whether the detected object corresponds to the movable object by comparing the first current position of the detected object to the second current position of the movable object; and

output a second signal indicative of detection of the detected object in response to determining that the first current position of the detected object does not correspond to the second current position of the movable object.

2. The obstacle detection system of claim 1, wherein the movable object comprises an implement rotatably coupled to the work vehicle, and the controller is configured to determine the second current position of the implement based at least in part on a steering angle of the work vehicle.

3. The obstacle detection system of claim 1, comprising a movable object sensor configured to output a third signal indicative of the second current position of the movable object relative to the work vehicle, and the controller is configured to determine the second current position of the movable object based at least in part on the third signal.

4. The obstacle detection system of claim 1, wherein the controller is configured to generate a bounding polytope around the movable object based at least in part on dimensions of the movable object, the controller is configured to determine a third current position of the bounding polytope, and the controller is configured to determine whether the first current position of the detected object corresponds to the second current position of the movable object based at least in part on the third current position of the bounding polytope.

5. The obstacle detection system of claim 4, wherein the controller is configured to determine the third current position of the bounding polytope based at least in part on a steering angle of the work vehicle, feedback from a sensor configured to output a third signal indicative of the second current position of the movable object, or a combination thereof.

6. The obstacle detection system of claim 1, wherein the controller is configured to identify the detected object in response to determining that the first current position of the detected object does not correspond to the second current position of the movable object.

7. The obstacle detection system of claim 1, comprising a sensor assembly communicatively coupled to the controller, wherein the sensor assembly is configured to output the first signal indicative of the first current position of the detected object relative to the work vehicle.

8. The obstacle detection system of claim 1, wherein the second signal indicative of detection of the detected object comprises instructions to a movement control system of the work vehicle to avoid the detected object.

9. The obstacle detection system of claim 8, wherein the movement control system comprises a speed control system, a steering control system, or a combination thereof.

10. An obstacle detection system for a first work vehicle system, comprising:

a controller comprising a memory and a processor, wherein the controller is configured to;

output a first signal to a movement control system of the first work vehicle system indicative of instructions to direct the first work vehicle system along a first route through a field, wherein the first route is based on a plan;

receive a second signal indicative of a position of an obstacle relative to the first work vehicle system;

determine whether the position of the obstacle corresponds to a position of a second work vehicle system following a second route through the field, wherein the second route is based on the plan; and

output a third signal indicative of detection of the obstacle in response to determining that the position of the obstacle does not correspond to the position of the second work vehicle system.

11. The obstacle detection system of claim 10, wherein the second work vehicle system comprises a work vehicle and an implement coupled to the work vehicle.

12. The obstacle detection system of claim 10, wherein the controller is configured to generate a bounding polytope around the second work vehicle system based at least in part on dimensions of the second work vehicle system, the controller is configured to determine a position of the bounding polytope, and the controller is configured to determine whether the position of the obstacle corresponds to the position of the second work vehicle system based at least in part on the position of the bounding polytope.

13. The obstacle detection system of claim 12, wherein the controller is configured to determine the position of the bounding polytope based at least in part on the second route, a fourth signal indicative of the position of the second work vehicle system, or a combination thereof.

14. The obstacle detection system of claim 10, wherein the controller is configured to identify the obstacle in response to determining that the position of the obstacle does not correspond to the position of the second work vehicle system.

15. The obstacle detection system of claim 10, wherein the third signal indicative of detection of the obstacle comprises instructions to the movement control system of the first work vehicle system to avoid the obstacle.

16. One or more tangible, non-transitory, machine-readable media comprising instructions configured to cause a processor to:

receive a first signal indicative of a first current position of a detected object relative to a work vehicle;

receive a second signal indicative of a second current position of a movable object coupled to the work vehicle;

determine whether the detected object corresponds to the movable object by comparing the first current position of the detected object to the second current position of the movable object; and

output a third signal indicative of detection of the detected object in response to determining that the first current position of the detected object does not correspond to the second current position of the movable object.

17. The one or more tangible, non-transitory, machine-readable media of claim 16, wherein the instructions are configured to cause the processor to:

generate a bounding polytope around the movable object based at least in part on dimensions of the movable object;

determine a third current position of the bounding polytope; and

determine whether the first current position of the detected object corresponds to the second current position of the movable object based at least on the third current position of the bounding polytope.

18. The one or more tangible, non-transitory, machine-readable media of claim 17, wherein the instructions are configured to cause the processor to determine the third current position of the bounding polytope based at least in part on a steering angle of the work vehicle, feedback from a sensor configured to output the second signal indicative of the position of the movable object, or a combination thereof.

19. The one or more tangible, non-transitory, machine-readable media of claim 16, wherein the instructions are configured to cause the processor to identify the detected object in response to determining that the first current position of the detected object does not correspond to the second current position of the movable object.

20. The one or more tangible, non-transitory, machine-readable media of claim 16, wherein the third signal indicative of detection of the detected object comprises commands to a movement control system of the work vehicle to avoid the detected object.