A method of path planning for an autonomous vehicle to make a turn includes receiving a request for a turn of a vehicle from a current swath to a next swath in a work area. The work area has a headland at a periphery thereof, and the headland is characterized by a guidance line therethrough. The method further includes receiving information of the current swath, information of the next swath, and information of the guidance line, and determining a trajectory of the turn based on the information of the current swath, the information of the next swath, and the information of the guidance line. The trajectory includes one or more segments. At least a portion of a first segment of the one or more segments follows the guidance line in the headland. The method further includes, outputting the trajectory to a control system of the vehicle for executing the turn.
METHOD AND SYSTEM FOR PATH PLANNING FOR HEADLAND-FOLLOWING TURNS
VERFAHREN UND SYSTEM ZUR WEGEPLANUNG FÜR DEM VORGEWENDE FOLGENDE KURVEN
PROCÉDÉ ET SYSTÈME DE PLANIFICATION DES TRAJECTOIRES DE VIRAGES SUIVANT UNE TOURNIÈRE
2021-11-03
Patent
Electronic Resource
English
IPC: | A01B SOIL WORKING IN AGRICULTURE OR FORESTRY , Bodenbearbeitung in Land- oder Forstwirtschaft / A01D Ernten , HARVESTING / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / E01C Bau von Straßen, Sportplätzen oder dgl., Decken dafür , CONSTRUCTION OF, OR SURFACES FOR, ROADS, SPORTS GROUNDS, OR THE LIKE / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen |
Engineering Index Backfile | 1955