System and method for controlling autonomous machine within lane boundaries during position uncertainty
US8755966B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 3, 2012 |
| Grant date | Jun 17, 2014 |
| Priority date | — |
| Expiry date | Aug 16, 2032 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/0278
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
An autonomous machine control system includes a positioning unit measuring position and orientation, and a navigation unit storing a route plan including an intended travel path along a lane. The lane has a width defined by a left-hand boundary and a right-hand boundary. The navigation unit receives an uncertainty value associated with the position or orientation, and creates a virtual two-dimensional footprint based on an actual machine footprint and the uncertainty value. The navigation unit also simulates movement of the virtual footprint along the intended travel path, calculates a left-hand margin value defined by the virtual footprint and the left-hand boundary, and calculates a right-hand margin value defined by the virtual footprint and the right-hand boundary. The margin values are compared to a predetermined value, and speed or travel direction of the machine is controlled if either of the margin values is below the predetermined value.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.