Method and system for controlling a vehicle having multiple control modes

• US 6,813,557 B2
• Filed: 03/27/2003
• Issued: 11/02/2004
• Est. Priority Date: 03/27/2003
• Status: Expired due to Term

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Hunt, Kenneth E., Schmidt, Mark Alvin
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): To, Tuan C
• Application Number:
  US10/400,764
• Publication Number:
  US 20040193363A1
• Time in Patent Office: 586 Days
• Field of Search: 701/200, 701/36, 701/213, 701/23, 701/26, 701/28, 701/301, 348/92, 348/207.99, 348/335, 348/149, 340/988, 340/435, 340/436, 340/825.69, 180/168, 56/102.R
• US Class Current: 701/200
• CPC Class Codes: A01B 69/007 Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
• CPC Class Codes: A01B 79/005 Precision agriculture
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

A method and system for controlling a vehicle comprises planning a path of a vehicle based on operator input. In a first mode, the vehicle may be guided based on the planned path. In a second mode, an operator of the vehicle commands or activates at least one of a propulsion system, a braking system, a steering system, and an implement system of the vehicle to guide the vehicle. In a third mode, the presence of an obstacle is detected, where the obstacle obstructs the planned path of the vehicle. The vehicle is guided in a third mode based upon the planned path and the detection of the presence of the obstacle. At least one of said first mode, second mode, and third mode is selected based upon the operator input.

Claims

1. A method of controlling a vehicle comprising:

planning a path of a vehicle based on operator input;

guiding the vehicle in a first mode based on the planned path;

guiding the vehicle in a second mode, distinct from the first mode, where an operator of the vehicle commands or activates at least one of a propulsion system, a braking system, a steering system, and an implement system of the vehicle;

detecting the presence of an obstacle that obstructs the planned path of the vehicle if the vehicle is operating in a third mode, mutually exclusive to the first mode and the second mode;

guiding the vehicle in a third mode based upon the planned path and the detection of the presence of the obstacle; and

selecting at least one of said first mode, second mode, and third mode based upon the operator input.

2. The method according to claim 1 wherein the first mode comprises an automatic steering mode, the second mode comprises a manual operator-driven mode, and the third mode comprises an autonomous mode.

3. The method according to claim 1 further comprising:

automatically switching from the first mode to the second mode in response to the operator operating at least one of the propulsion system, the braking system, the steering system, and the implement system during the operation of the vehicle in the first mode.

4. The method according to claim 1 further comprising:

obtaining a geographic position of the vehicle with respect to a work area for the vehicle by estimating the time of arrival of electromagnetic signals from at least three active beacons having corresponding unique beacon identifiers coded via said electromagnetic signals.

5. The method according to claim 4 wherein the electromagnetic signals comprise at least one of a radio frequency signal, an infra-red frequency signal, and an optical signal.

6. The method according to claim 1 further comprising:

obtaining a geographic position of the vehicle with respect to a work area for the vehicle by estimating the time of arrival of electromagnetic signals from at least three passive beacons having corresponding unique beacon identifiers coded via said electromagnetic signals.

7. The method according to claim 6 wherein the electromagnetic signals comprise at least one of a radio frequency signal, an infra-red frequency signal, and an optical signal.

8. The method according to claim 1 wherein the guiding the vehicle further comprises:

aiming a stereo vision sensor frontward in a direction of movement of the vehicle to view a stereo vision viewing zone;

facing a first visual camera frontward in a direction of movement of the vehicle to overlap with the stereo viewing zone; and

facing a second visual camera rearward and opposite the direction of movement of the vehicle.

9. The method according to claim 1 wherein detecting the presence of an obstacle comprises:

transmitting an ultrasonic signal within a radius about the front of the vehicle;

identifying an obstacle within the radius based on the reception of one or more reflections of the ultrasonic signal by an array of antenna elements mounted on the vehicle; and

identifying an obstacle by using at least one of a proximity sensor and a contact sensor mounted about a periphery of the vehicle and any implement attached thereto.

10. The method according to claim 1 wherein the guiding of the vehicle further comprises:

using a global positioning receiver with differential correction to determine a local position of the vehicle within a work area.

11. The method according to claim 1 wherein the path planning comprises selecting a series of substantially parallel rows within a work area, wherein at least one of the rows is generally parallel to an outer generally linear boundary of the work area.

12. The method according to claim 1 wherein the path planning comprises selecting a series of substantially parallel curved rows within a work area, wherein at least one of the curved rows is generally parallel to an outer generally curved boundary of the work area.

13. A system of controlling a vehicle comprising:

a path planner for planning a path of a vehicle based on operator input;

a vehicular guidance module for guiding the vehicle in a first mode based on the planned path;

the vehicular guidance module facilitating operation of the vehicle in a second mode, distinct from the first mode, where an operator of the vehicle commands or activates at least one of a propulsion system, a braking system, a steering system, and an implement system of the vehicle;

the vehicular guidance module adapted to guide the vehicle in a third mode based upon the planned path and the detection of the presence of the obstacle;

a sensor for detecting the presence of an obstacle that obstructs the planned path of the vehicle if the vehicle is operating in a third mode, mutually exclusive to the first mode and the second mode; and

a mode selector for selecting at least one of said first mode, second mode, and third mode based upon the operator input.

14. The system according to claim 13 wherein the first mode comprises an automatic steering mode, the second mode comprises a manual operator-driven mode, and the third mode comprises an autonomous mode.

15. The system according to claim 13 wherein the mode selector is arranged to automatically switch from the first mode to the second mode in response to the operator operating at least one of the propulsion system, the braking system, the steering system, and the implement system during the operation of the vehicle in the first mode.

16. The system according to claim 13 further comprising:

a navigation system for obtaining a geographic position of the vehicle with respect to a work area for the vehicle by estimating the time of arrival of electromagnetic signals from at least three active beacons having corresponding unique beacon identifiers coded via said electromagnetic signals.

17. The system according to claim 16 wherein the electromagnetic signals comprise at least one of a radio frequency signal, an infra-red frequency signal, and an optical signal.

18. The system according to claim 13 further comprising:

a navigation system for obtaining a geographic position of the vehicle with respect to a work area for the vehicle by estimating the time of arrival of electromagnetic signals from at least three passive beacons having corresponding unique beacon identifiers coded via said electromagnetic signals.

19. The system according to claim 18 wherein the electromagnetic signals comprise at least one of a radio frequency signal, an infra-red frequency signal, and an optical signal.

20. The system according to claim 13 further comprising:

a stereo vision sensor aimed frontward in a direction of movement of the vehicle to view a stereo vision viewing zone;

a first visual camera facing frontward in a direction of movement of the vehicle to overlap with the stereo viewing zone; and

a second visual camera facing rearward and opposite the direction of movement of the vehicle.

21. The system according to claim 13 wherein detecting the presence of an obstacle comprises:

transmitting an ultrasonic signal within a radius about the front of the vehicle;

identifying an obstacle within the radius based on the reception of one or more reflections of the ultrasonic signal by an array of antenna elements mounted on the vehicle; and

identifying an obstacle by using at least one of a proximity sensor and a contact sensor mounted about a periphery of the vehicle and any implement attached thereto.

22. The system according to claim 13 wherein the guiding of the vehicle further comprises:

using a global positioning receiver with differential correction to determine a local position of the vehicle within a work area.

23. The system according to claim 13 wherein the path planning comprises selecting a series of substantially parallel rows within a work area, wherein at least one of the rows is generally parallel to an outer generally linear boundary of the work area.

24. The system according to claim 13 wherein the path planning comprises selecting a series of substantially parallel curved rows within a work area, wherein at least one of the curved rows is generally parallel to an outer generally curved boundary of the work area.