Method and system for dynamically positioning a vehicle relative to another vehicle in motion

• US 8,589,013 B2
• Filed: 10/25/2011
• Issued: 11/19/2013
• Est. Priority Date: 10/25/2011
• Status: Active Grant

• Current Assignee: Raven Industries Incorporated (CNH Industrial N.V.)
• Original Assignee: Jaybridge Robotics, Inc.
• Inventors: Pieper, Joshua J., Brown, Jeremy H.
• Primary Examiner(s): CHEUNG, CALVIN K
• Application Number:
  US13/281,012
• Publication Number:
  US 20130103249A1
• Time in Patent Office: 756 Days
• Field of Search: 701/2, 701/25, 701/26, 56/102, 56/108
• US Class Current: 701/25
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0291 Fleet control monitoring fleets in traffic control systems for road vehicles G08G1/127, G08G1/127
• CPC Class Codes: G08G 1/096775 where the origin of the information is a central station
• CPC Class Codes: G08G 1/166 for active traffic, e.g. moving vehicles, pedestrians, bikes

Abstract

A computer-implemented method is provided for automatically guiding a first vehicle to maintain a position relative to a second vehicle traveling in a given area. The method includes the steps of: (a) receiving location data on the first and second vehicles; (b) determining a legal travel path in the given area from the first vehicle toward an expected position of the second vehicle; (c) automatically controlling the first vehicle to travel along the legal travel path; and (d) repeating steps (a) through (c) to automatically move the first vehicle to a relative position from the second vehicle and then to automatically maintain the relative position as the first and second vehicles travel through the given area.

Claims

1. A first vehicle configured to automatically maintain a position relative to a second vehicle traveling in a given area, said first and second vehicles being independently driven and being unattached to each other, the first vehicle comprising:

(a) a vehicle drive system;

(b) an obstacle detection system for detecting obstacles in a vehicle travel path of the first vehicle;

(c) a vehicle state property estimation system for estimating state properties of the first vehicle; and

(d) a microprocessor-based vehicle controller receiving data from the obstacle detection system and the vehicle state property estimation system, the microprocessor-based vehicle controller being configured to;

(i) receive location data on the first vehicle from the vehicle state property estimation system, and to receive location data on the second vehicle;

(ii) determine a legal travel path for the first vehicle in the given area from the first vehicle toward an expected position of the second vehicle;

(iii) automatically control the vehicle drive system of the first vehicle to drive the first vehicle along the legal travel path; and

(iv) repeat (i) through (iii) to automatically move the first vehicle progressively closer to the second vehicle until the first vehicle is at a given relative position from the second vehicle and then to automatically maintain the given relative position as the first and second vehicles travel through the given area.

2. The first vehicle of claim 1, wherein the location data on the first and second vehicles comprises estimated state properties of each vehicle based on data received from one or more sensors.

3. The first vehicle of claim 2, wherein the state properties comprise an absolute position in a shared reference frame, speed, heading, and yaw rate.

4. The first vehicle of claim 2, wherein the first vehicle tows a conveyance, and wherein the state properties include an estimation of an angle between the first vehicle and the towed conveyance.

5. The first vehicle of claim 2, wherein the one or more sensors comprise forward motion sensors including a Global Positioning System (GPS) sensor with Real Time Kinematic (RTK) correction, an inertial measurement unit (IMU), or an odometer.

6. The first vehicle of claim 1, wherein the first vehicle tows a conveyance, and wherein the microprocessor-based vehicle controller is configured to control the vehicle drive system such that a given offload position in the conveyance is co-located with a mechanism extending from the second vehicle.

7. The first vehicle of claim 6, wherein the first vehicle is a tractor and the conveyance is a cart, and wherein the second vehicle comprises a harvester and the mechanism comprises a lever arm for offloading harvested material from the harvester to the cart.

8. The first vehicle of claim 6, wherein the given offload position in the conveyance is varied to maintain a generally even fill of the conveyance.

9. The first vehicle of claim 8, wherein the given offload position in the conveyance is varied manually or automatically in accordance with a predetermined pattern or based on content-height sensor readings.

10. The first vehicle of claim 1, wherein the second vehicle tows a conveyance, and wherein the microprocessor-based vehicle controller is configured to control the vehicle drive system such that a given offload position in the conveyance is co-located with a mechanism extending from the first vehicle.

11. The first vehicle of claim 1, wherein the microprocessor-based vehicle controller is configured to control the vehicle drive system to automatically drive the first vehicle to a parking area in response to receiving a park command.

12. The first vehicle of claim 1, wherein the microprocessor-based vehicle controller is configured to control the vehicle drive system to automatically stop the first vehicle in response to a stop command.

13. The first vehicle of claim 1, wherein the microprocessor-based vehicle controller is configured to control the vehicle drive system to automatically drive the first vehicle to follow the second vehicle at a standoff distance in response to follow command.

14. The first vehicle of claim 1, wherein any portion of the given area previously traveled by the second vehicle is a legal travel area.

15. The first vehicle of claim 1, wherein the given area is defined by an outer boundary, and a legal travel path must be within the outer boundary.

16. The first vehicle of claim 1, wherein a legal travel path cannot extend through any portion of a predetermined obstacle boundary.