METHOD AND SYSTEM FOR DETERMINING A POSITION OF A VEHICLE

• US 20100141483A1
• Filed: 12/10/2008
• Published: 06/10/2010
• Est. Priority Date: 12/10/2008
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Moorehead, Stewart J., Flenniken, John Michael, Thacher, Russell James, Dickson, Monte Andre
• Granted Patent: US 8,031,086 B2
• Time in Patent Office: Days
• US Class Current: 340/989
• CPC Class Codes: G01S 13/825 with exchange of information between interrogator and responder
• CPC Class Codes: G01S 13/931 of land vehicles
• CPC Class Codes: G01S 2013/9318 Controlling the steering
• CPC Class Codes: G01S 2013/93185 Controlling the brakes
• CPC Class Codes: G01S 2013/932 using own vehicle data, e.g. ground speed, steering wheel direction
• CPC Class Codes: G01S 2013/9329 cooperating with reflectors or transponders
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

Radio frequency identification tags are spaced apart from one another in or around a work area for the vehicle. Each of the tags has a corresponding unique identifier. A path planning module establishes a path comprising a path segment between at least two of the radio frequency identification tags. The path segment comprises at least one of a distance between the tags, an angular heading between the tags, and unique identifiers corresponding to the tags. A data processor determines an estimated position of the vehicle based on at least one of odometer data and accelerometer data. A vehicle controller navigates between at least two of the radio frequency identification tags based on the estimated position, the distance and the angular heading. A reader reads the tag identifiers of each tag to track the progress of the vehicle to facilitate execution of or retrieval of any next path segment of the vehicle along the established path.

Claims

1. A method for determining the position of a vehicle, the method comprising the steps of:

positioning a group of radio frequency identification tags spaced apart from one another in or around a work area for the vehicle, each of the tags having a corresponding unique identifier;

establishing a path comprising a path segment between at least two of the radio frequency identification tags, the path segment comprising at least one of a distance between the tags, an angular heading between the tags, coordinates of the tags, and unique identifiers corresponding to the tags;

determining an estimated position of the vehicle based on at least one of odometer data and inertial data;

navigating between at least two of the radio frequency identification tags based on the estimated position, the distance and the angular heading; and

reading the tag identifiers of each tag to track the progress of the vehicle to facilitate execution of or retrieval of any next path segment of the vehicle along the established path.

2. The method according to claim 1 further comprising:

determining whether or not the vehicle is co-located with or positioned over the read tag, as opposed to merely near the tag, by detecting a change in a magnetic field associated with the proximity of a magnet or ferrous material co-located with the radio frequency identification tag.

3. The method according to claim 1 further comprising:

positioning the group of radio frequency identification tags on or near a boundary or outer perimeter of a work area.

4. The method according to claim 1 wherein the positioning comprises positioning the radio frequency identification tags an offset distance inward from an outer boundary of a work area, where the offset distance is based on a mowing swath width of the vehicle and a position of an antenna, for receiving radio frequency identification tag signals, overlying the radio frequency tags in the work area.

5. The method according to claim 1 further comprising:

positioning the group of radio frequency identification tags into a grid associated with the work area.

6. The method according to claim 5 further comprising:

assigning a path through the grid based upon an interconnected series of path segments between any two radio frequency identification tags.

7. The method according to claim 1 wherein the path comprises a virtual track for the vehicle in the work area, and wherein the vehicle is prohibited from leaving the virtual track and entering other areas of the work area.

8. The method according to claim 1 further comprising:

reading the radio frequency identification tags via a reader coupled to at least one of a directional antenna, an amplifier with adjustable gain, and an attenuator to limit the number of tags readable simultaneously to a closest tag of the tags associated with the work area.

9. The method according to claim 1 further comprising:

verifying a position of the vehicle based on a detected constellation of multiple radio frequency tags unique to a particular location within a work area consistent with a reference constellation of receivable radio frequency identification tags.

10. The method according to claim 1 further comprising:

reading multiple radio frequency identification tags via a reader that is coupled to an omni-directional antenna.

11. The method according to claim 1 further comprising:

providing a ferrous metal member for collocation with each radio frequency identification tag;

using a ferrous metal detection circuit to detect or confirm the near proximity of the radio frequency identification tag.

12. The method according to claim 1 further comprising:

establishing a path plan for the vehicle based on series of path segments between any two of the radio frequency tags.

13. A system for determining the position of a vehicle, the system comprising:

a group of radio frequency identification tags spaced apart from one another in or around a work area for the vehicle, each of the tags having a corresponding unique identifier;

a path planning module for establishing a path comprising a path segment between at least two of the radio frequency identification tags, the path segment comprising a least one of a distance between the tags, an angular heading between the tags, tag coordinates, and unique identifiers corresponding to the tags;

a position estimator for determining an estimated position of the vehicle based on at least one of odometer data and inertial data;

a vehicle controller for navigating between at least two of the radio frequency identification tags based on the estimated position, the distance and the angular heading; and

a reader for reading the tag identifiers of each tag to track the progress to facilitate execution of retrieval of any next path segment of the vehicle along the established path.

14. The system according to claim 13 further comprising:

a metal detector for detecting a change in a magnetic field associated with the proximity of a magnet or ferrous material co-located with the radio frequency identification tag; and

a position verification module for determining whether or not the vehicle is co-located with or positioned over the read tag, as opposed to merely near the tag.

16. The system according to claim 13 wherein the reader further comprises at least one of directional antenna, an amplifier with variable gain and an attenuator to limit the number of tags readable simultaneously to a closest tag of the tags in the work area.

17. The system according to claim 13 further comprising:

a position verification module for verifying a position of the vehicle based on a detected constellation of multiple radio frequency tags unique to a particular location within a work area consistent with a reference constellation of receivable radio frequency identification tags.

18. The system according to claim 13 wherein the reader is coupled to an omni-directional antenna for receiving signals from radio frequency tags within a detectable constellation.

15. The system according to 13 wherein the established path comprises an interconnected series of path segments between any two radio frequency identification tags.