LEADER-FOLLOWER FULLY AUTONOMOUS VEHICLE WITH OPERATOR ON SIDE

• US 20100063663A1
• Filed: 09/11/2008
• Published: 03/11/2010
• Est. Priority Date: 09/11/2008
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne, Tolstedt, Jonathan Louis
• Granted Patent: US 8,229,618 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0231 using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16

Abstract

The illustrative embodiments provide a method and apparatus for controlling movement of a vehicle. Movement of an operator located at a side of the vehicle is identified with a plurality of sensors located in the vehicle and the vehicle is moved in a path that maintains the operator at the side of the vehicle while the operator is moving.

Claims

1. A method for controlling movement of a vehicle, the method comprising:

identifying movement of an operator located at a side of the vehicle with a plurality of sensors located in the vehicle; and

moving the vehicle in a path that maintains the operator at the side of the vehicle while the operator is moving forward.

2. The method of claim 1, wherein the moving step comprises:

moving the vehicle in the path that maintains the operator at the side of the vehicle while the operator is moving forward.

3. The method of claim 1, wherein the moving step further comprises:

identifying a first path for the operator;

generating a second path for the vehicle, wherein the second path maintains the operator at the side of the vehicle; and

moving the vehicle along the second path.

4. The method of claim 3, wherein the identifying step further comprises:

projecting the first path based on direction of movement by the operator.

5. The method of claim 3, wherein the generating step further comprises:

identifying a boundary to the second path to form an identified boundary, wherein the second path is a ground surface appropriate for movement of the vehicle; and

creating the second path to maintain a fixed distance between the vehicle and the identified boundary.

6. The method of claim 5, wherein the boundary is one of a curb and vegetation.

7. The method of claim 3, wherein the moving step further comprises:

responsive to detecting an obstacle in the second path, stopping the vehicle.

8. The method of claim 7, wherein the moving step further comprises:

responsive to detecting the obstacle in the second path being detected, generating an alert to the operator.

9. The method of claim 8, wherein the generating step further comprises:

displaying the alert to the operator, wherein the alert is displayed through a user interface.

10. The method of claim 9, wherein the user interface is a display mounted to a side of the vehicle and viewable by the operator.

11. The method of claim 7, wherein the moving step further comprises:

responsive to receiving a user input from the operator to move the vehicle around the obstacle, starting the vehicle; and

moving the vehicle around the obstacle based on the user input from the operator.

12. The method of claim 3, wherein the moving step further comprises:

responsive to detecting an obstacle in the second path, executing a maneuver to avoid the obstacle.

13. The method of claim 12, wherein the obstacle is one of a person, a vehicle, debris in the second path, and debris on a road.

14. The method of claim 1 further comprising:

distinguishing the operator from other objects.

15. The method of claim 1 further comprising:

collecting data regarding the environment.

16. The method of claim 15, wherein the data comprises a location for at least one of a pothole for repair, a tree requiring trimming, an improperly parked vehicle, and a stolen vehicle.

17. The method of claim 1 further comprising:

stopping movement of the vehicle in response to a user input from the operator.

18. The method of claim 1 further comprising:

starting movement of the vehicle in response to a user input from the operator.

19. The method of claim 1 further comprising:

classifying objects in an environment around the vehicle.

20. The method of claim 19, wherein the classifying step comprises:

classifying the objects in the environment around the vehicle using a knowledge base.

21. The method of claim 20, wherein the knowledge base comprises an a priori knowledge base, an online knowledge base, and a learned knowledge base.

22. The method of claim 1, wherein the plurality of sensor comprises at least one of a global positioning system, structured light sensor, two dimensional/three dimensional lidar, dead reckoning, infrared camera, visible light camera, radar, ultrasonic sonar, and radio frequency identification reader.

23. A method for improved vehicle control, the method comprising:

receiving a power-up command;

responsive to receiving the power-up command, receiving selection of a side following mode;

executing a planned path, wherein executing the planned path comprises identifying an operator and distinguishing between the operator and other objects in an environment surrounding the vehicle;

moving a vehicle along the planned path in a manner that maintains the operator in a position proximate to a side of the vehicle;

identifying obstacles in the planned path;

responsive to identifying the obstacles, executing obstacle avoidance maneuvers; and

responsive to executing obstacle avoidance maneuvers, resuming the planned path.

24. The method of claim 23, wherein identifying the operator comprises receiving video input of the operator walking the planned path.

25. The method of claim 23, wherein identifying the operator comprises detecting an identifying characteristic correlating with a pre-determined list of identifying characteristics for operators.

26. The method of claim 23, further comprising:

receiving user input to override the planned path;

responsive to receiving the user input, suspending the planned path;

executing one or more actions based on the user input; and

resuming the planned path.

27. The method of claim 23, further comprising:

requesting vehicle location information from a high integrity perception system;

receiving the vehicle location information from the high integrity perception system; and

processing the vehicle location information in association with the planned path.

28. The method of claim 23, further comprising:

alerting the environment surrounding the vehicle using audio and visual signals, wherein the audio and visual signals vary dynamically according to one or more factors identified in the environment.

29. The method of claim 23, further comprising:

identifying a boundary to the planned path, wherein the planned path is a ground surface appropriate for vehicle movement; and

maintaining a fixed distance between the vehicle and the boundary identified.

30. The method of claim 29, wherein the boundary is one of a curb and vegetation.

31. A vehicle comprising:

a steering system;

a propulsion system;

a braking system;

a sensor system; and

a machine controller connected to the steering system, the propulsion system, the braking system; and

the sensor system, wherein the machine controller identifies movement of an operator using the sensor system and sends commands to the steering system, the propulsion system, and the braking system to move the vehicle in a manner that maintains the operator at a side of the vehicle while the operator is moving.

32. The vehicle of claim 31, wherein the machine controller moves the vehicle in the manner that maintains the operator at the side of the vehicle by identifying a first path for the operator, generating a second path for the vehicle, wherein the second path maintains the operator at the side of the vehicle, and moving the vehicle along the second path.

33. The vehicle of claim 32, wherein the machine controller projects the first path based on direction of movement by the operator.

34. The vehicle of claim 32, wherein the machine controller generates the second path for the vehicle by identifying a boundary to the second path to form an identified boundary, wherein the second path is a ground surface appropriate for movement of the vehicle, and creating the second path to maintain a fixed distance between the vehicle and the identified boundary.

35. The vehicle of claim 34, wherein the boundary is one of a curb and vegetation.

36. The vehicle of claim 32, wherein the machine controller stops the vehicle responsive to detecting an obstacle in the second path.

37. The vehicle of claim 36, wherein the machine controller generates an alert to the operator responsive to the obstacle in the second path being detected.

38. The vehicle of claim 37, wherein the machine controller generates the alert and displays the alert to the operator, wherein the alert is displayed through a user interface.

39. The vehicle of claim 38, wherein the user interface is a display mounted to a side of vehicle and viewable by the operator.

40. The vehicle of claim 37, wherein the machine controller starts the vehicle, responsive to receiving a user input from the operator to move the vehicle around the obstacle, and moves the vehicle around the obstacle based on the user input from the operator.

41. The vehicle of claim 31, wherein the machine controller executes a maneuver to avoid an obstacle responsive to detecting the obstacle in the second path.

42. The vehicle of claim 41, wherein the obstacle is one of a person, a vehicle, and debris in the second path.

43. The vehicle of claim 31, wherein the machine controller further distinguishes the operator from other objects.

44. The vehicle of claim 31, wherein the machine controller further collects data regarding the environment.

45. The vehicle of claim 44, wherein the data comprises a location for at least one of a pothole for repair, a tree requiring trimming, an improperly parked vehicle, and a stolen vehicle.

46. The vehicle of claim 31, wherein the machine controller stops movement of the vehicle in response to a user input from the operator.

47. The vehicle of claim 31, wherein the machine controller starts movement of the vehicle in response to user input from the operator.

48. The vehicle of claim 31, wherein the machine controller classifies objects in an environment around the vehicle.

49. The vehicle of claim 48, wherein the machine controller classifies the objects in the environment around the vehicle using a knowledge base.

50. The vehicle of claim 49, wherein the knowledge base comprises an a priori knowledge base, an online knowledge base, and a learned knowledge base.

51. The vehicle of claim 31, wherein the sensor system comprises a plurality of sensors, and wherein the plurality of sensors comprise at least one of a global positioning system, structured light sensor, two dimensional/three dimensional lidar, dead reckoning, infrared camera, visible light camera, radar, ultrasonic sonar, and radio frequency identification reader.