Method and system for guiding a vehicle with vision enhancement

• US 20060147088A1
• Filed: 04/15/2005
• Published: 07/06/2006
• Est. Priority Date: 01/04/2005
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Reid, John Franklin, Han, Shufeng
• Granted Patent: US 7,242,791 B2
• Time in Patent Office: Days
• US Class Current: 382/104
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A method and system for guiding a-vehicle comprises a location module for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A maximum allowable correction duration and a maximum allowable vision-derived displacement are established for correction of a position of a vehicle. A location quality estimator estimates location quality data for the corresponding collected location data during an evaluation time window. A vision module estimates vision quality data for the corresponding collected vision data during the evaluation time window. A selector selects the application of location data or vision data based on the quality data and at least one of the maximum allowable correction duration and the maximum allowable vision-derived displacement for the evaluation time window or for an application interval trailing the evaluation time window.

Claims

1. A method for guiding a vehicle, the method comprising:

establishing a maximum allowable correction duration for correction of a location error in a position of a vehicle;

establishing a maximum allowable vision-derived displacement for correction of vision error in the position of the vehicle;

collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;

collecting vision data for the vehicle based on a vision module associated with the vehicle;

estimating location quality data for the location data during an evaluation time window;

estimating vision quality data for the vision data during the evaluation time window; and

selecting a guidance mode of the vehicle based on the quality data and at least one of the maximum allowable correction duration and the maximum allowable vision displacement.

2. The method according to claim 1 wherein the guidance mode comprises one of a first guidance mode in which the location data is solely used for guidance of the vehicle for a time interval and a second guidance mode in which the vision data is solely used for guidance of the vehicle for a time interval.

3. The method according to claim 2 wherein at least one of a first guidance mode and a fusion guidance mode is selected as the guidance mode if the location data quality exceeds a location quality threshold, and if the vision quality exceeds a vision quality threshold.

4. The method according to claim 2 wherein a fusion guidance mode is selected if the location data quality exceeds a location quality threshold, if the vision quality exceeds a vision quality threshold, if the vision offset is less than maximum allowable vision-derived displacement, and if the location correction duration is less than or equal to the maximum allowable correction duration.

5. The method according to claim 2 wherein the first guidance module is selected if the location data quality exceeds a threshold quality, if the vision quality does not exceed a threshold quality, and if the location correction duration is less than a maximum allowable correction duration.

6. The method according to claim 2 wherein the second guidance mode is selected if the location data quality exceeds a location quality threshold, if the vision quality exceeds a vision quality threshold, if the vision offset is less than maximum allowable vision-derived displacement, and if the location correction duration is greater than a maximum allowable correction duration.

7. The method according to claim 2 wherein the second guidance mode is selected if the location data quality does not exceed a location quality threshold, if the vision quality exceeds a vision quality threshold, and if the vision offset is less than maximum allowable displacement.

8. The method according to claim 1 wherein the guidance mode comprises one of a first guidance mode in which the location data is solely used for guidance of the vehicle for a time interval, a second guidance mode in which the vision data is solely used for guidance of the vehicle for a time interval, a third mode in which the vision data and location data are not used for guidance of the vehicle, and a fourth mode in which both vision data and location data are used for guidance of the vehicle.

9. The method according to claim 8 wherein a third guidance mode is selected if the location data quality does not exceed a location quality threshold, and if the vision quality does not exceed a threshold quality level.

10. The method according to claim 8 wherein a third guidance mode is selected if the location data quality does not exceed a location quality threshold, and if the vision quality exceeds a vision quality threshold and if the vision offset is greater than a maximum allowable vision-derived displacement.

11. A system for guiding a vehicle, the system comprising:

a data storage device for storing at least one of a maximum allowable correction duration and a maximum allowable vision-derived displacement for correction of a position of a vehicle;

a location module for collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;

a vision module for collecting vision data for the vehicle based on a vision module associated with the vehicle;

a location quality estimator for estimating location quality data for the location data during an evaluation time window;

a vision quality estimator for estimating vision quality data for the vision data during the evaluation time window; and

a selector for selecting a guidance mode of the vehicle based on the quality data and at least one of the maximum allowable correction duration and the maximum allowable vision-derived displacement.

12. The system according to claim 11 wherein the guidance mode comprises one of a first guidance mode in which the location data is solely used for guidance of the vehicle for a time interval and a second guidance mode in which the vision data is solely used for guidance of the vehicle for a time interval.

13. The system according to claim 12 wherein the selector selects at least one of a first guidance mode and a fusion guidance mode as the guidance mode if the location data quality exceeds a location quality threshold, and if the vision quality exceeds a vision quality threshold.

14. The system according to claim 12 wherein selector selects a fusion guidance mode if the location data quality exceeds a location quality threshold, if the vision quality exceeds a vision quality threshold, if the vision offset is less than maximum allowable vision-derived displacement, and if the location correction duration is less than or equal to a maximum allowable correction duration.

15. The system according to claim 12 wherein the selector selects the first guidance module if the location data quality exceeds a location quality threshold, if the vision quality does not exceed a vision quality threshold, and if the location correction duration is less than a maximum allowable correction duration.

16. The system according to claim 12 wherein the selector selects the second guidance mode if the location data quality exceeds a location quality threshold, if the vision quality exceeds a vision quality threshold, if the vision offset is less than maximum allowable vision-derived displacement, and if the location correction duration is greater than a maximum allowable correction duration.

17. The system according to claim 12 wherein the selector selects the second guidance mode if the location data quality does not exceed a location quality threshold, if the vision quality exceeds a vision quality threshold, and if the vision offset is less than maximum allowable vision-derived displacement.

18. The system according to claim 11 wherein the guidance mode comprises one of a first guidance mode in which the location data is solely used for guidance of the vehicle for a time interval, a second guidance mode in which the vision data is solely used for guidance of the vehicle for a time interval, a third mode in which the vision data and location data are not used for guidance of the vehicle, and a fourth mode in which both the vision data and location data are used for guidance of the vehicle.

19. The system according to claim 18 wherein the selector selects the third guidance mode if the location data quality does not exceed a location quality threshold, and if the vision quality does not exceed a vision quality threshold.

20. The system according to claim 18 wherein selector selects the third guidance mode if the location data quality does not exceed a location quality threshold, if the vision quality exceeds a vision quality threshold, and if the vision offset is greater than a maximum allowable vision-derived displacement.