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US 11,698,264 B2Granted
Predicting terrain traversability for a vehicle
AssigneeAgjunction LLC
InventorsTommy Ertbolle Madsen, Tri M. Dang, Joshua M. Gattis, Andreas F. Ramm, Eran D. B. Medagoda, Steven J. Dumble, Bilal Arain
Life of this patent
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Abstract
Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.
Claims14
A terrain mapping system for a vehicle, the terrain mapping system comprising:
- wherein the vehicle includes:
- a sensor system for collecting three-dimensional terrain data, the sensor system including a rotating lidar system, an array of static laser beams, and/or a stereo camera based on two or more cameras;
- a positioning system for determining location data for the vehicle, the positioning system comprising a global navigation satellite system (GNSS) receiver or a local positioning system;
- wherein the terrain mapping system includes memory coupled to a processor and storing instructions that, when executed by the processor, cause the terrain mapping system to perform operations comprising:
- identifying a ground surface topography for a section of terrain and a topography of vegetation on the section of terrain, wherein the topographies are based on data generated by the sensor system and the positioning system, as the vehicle is driven and steered along a path according to control data transmitted to a steering control system of the vehicle, wherein the path is determined based on a first three-dimensional terrain map;
- generating a second three-dimensional terrain map, the second three-dimension terrain map including the ground surface topography for the section of terrain and the topography of vegetation on the section of terrain;
- characterized in that the generating the second three-dimensional terrain map includes identifying a plurality of objects within the section of terrain on the second three-dimensional terrain map, wherein a visual indicator is presentable, by the vehicle, on the second three-dimensional terrain map for each respective object representing whether the object is traversable by the vehicle;
- and
- providing the second three-dimensional terrain map to the vehicle or a different vehicle for avoiding non-traversable ones of the objects based on the second three-dimensional map.
6 more elements
A method comprising:
- identifying a ground surface topography for a section of terrain and a topography of vegetation on the section of terrain, wherein the topographies are based on data generated by a sensor system and a positioning system of a vehicle, as the vehicle is driven and steered along an original path according to an original control data transmitted to a steering control system of the vehicle;
- wherein the positioning system includes a global navigation satellite system (GNSS) receiver or a local positioning system;
- generating a second three-dimensional terrain map, the second three-dimensional terrain map including the ground surface topography for the section of terrain and the topography of vegetation on the section of terrain;
- characterized in that the generating the second three-dimensional terrain map includes identifying a plurality of objects within the section of terrain on the three-dimensional terrain map, wherein a visual indicator is presentable, by the vehicle, on the second-three dimensional terrain map for each respective object representing whether the object is traversable by the vehicle;
- and
- providing the second three-dimensional terrain map to the vehicle or a different vehicle for avoiding non-traversable ones of the objects based on the second three-dimensional map.
3 more elements
Dependencies are inferred from the claim text.