US6813557B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method and system for controlling a vehicle having multiple control modes
Assignee: Deere and Co
•
Filing: 2003-03-27
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Granted: 2004-11-02
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Expires: 2023-03-27
Abstract
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.
Inventors
- 👤 Mark Alvin Schmidt
- 👤 Kenneth E. Hunt
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 00:52
CPC Classifications
A; A01; A01B; A01B69/00; A01B69/007; A01B79/00; A01B79/005; B; B62; B62D; B62D1/00; B62D1/24; B62D1/28; G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0276; G05D1/028; G05D1/0231; G05D1/0234; G05D1/0246; G05D1/0251; G05D1/0278
Claims Analysis
Total Claims: 26
Claim 1
Independent Claim
143 words
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.
Claim 2
Independent Claim
143 words
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.
Claim 3
Dependent Claim
31 words
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.
Claim 4
Dependent Claim
51 words
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.
Claim 5
Dependent Claim
49 words
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.
Claim 6
Dependent Claim
27 words
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.
Claim 7
Dependent Claim
49 words
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.
Claim 8
Dependent Claim
27 words
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.
Claim 9
Dependent Claim
71 words
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.
Claim 10
Dependent Claim
85 words
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.
Claim 11
Dependent Claim
34 words
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.
Claim 12
Dependent Claim
42 words
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.
Claim 13
Dependent Claim
44 words
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.
Claim 14
Independent Claim
171 words
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.
Claim 15
Independent Claim
171 words
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.
Claim 16
Dependent Claim
31 words
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.
Claim 17
Dependent Claim
56 words
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.
Claim 18
Dependent Claim
53 words
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.
Claim 19
Dependent Claim
27 words
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.
Claim 20
Dependent Claim
53 words
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.
Claim 21
Dependent Claim
27 words
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.
Claim 22
Dependent Claim
66 words
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.
Claim 23
Dependent Claim
85 words
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.
Claim 24
Dependent Claim
34 words
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.
Claim 25
Dependent Claim
42 words
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.
Claim 26
Dependent Claim
44 words
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.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2007-11-02 | 2008-05-03 | 2008-11-02 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2011-11-02 | 2012-05-03 | 2012-11-02 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2015-11-02 | 2016-05-03 | 2016-11-02 | $7700.00 | Window Closed / Lapsed |