# US 11,993,256 B2 · Dynamic perception zone estimation > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,993,256 B2 - Document ID: US11993256B2 - Status: Granted - Kind: B2 - Application number: 17/124,140 - Filed: 2020-12-16 - Published: 2021-11-25 - Granted: 2024-05-28 - Earliest claimed: 2020-05-22 - Assignees: CNH Industrial America LLC - Applicants: CNH Industrial America LLC - Inventors: Aditya Singh; Brett McClelland - Web page: https://patentgrep.com/patent/US11993256B2 ## CPC - A01B 69/008: {automatic} - B60W 30/09: Taking automatic action to avoid collision, e.g. braking and steering - A01B 69/001: {Steering by means of optical assistance, e.g. television cameras (steering devices for road marking vehicles E01C23/163)} - A01B 79/005: {Precision agriculture} - B60W 30/0956: {the prediction being responsive to traffic or environmental parameters} - E02F 9/261: {Surveying the work-site to be treated} - G08G 1/16: Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) - B60W 2300/15: Agricultural vehicles - B60W 2300/17: Construction vehicles, e.g. graders, excavators - B60W 2520/14: Yaw - B60W 2520/16: Pitch - B60W 2520/18: Roll - B60W 2530/10: Weight - B60W 2530/20: Tyre data - B60W 2530/203: Presence of trailer - B60W 2552/00: Input parameters relating to infrastructure - B60W 2552/15: Road slope, i.e. the inclination of a road segment in the longitudinal direction - B60W 2554/20: Static objects - B60W 2555/20: Ambient conditions, e.g. wind or rain - B60W 2556/10: Historical data - B60W 2720/10: Longitudinal speed - B60W 2720/12: Lateral speed - B60W 2720/24: Direction of travel - E02F 9/262: {with follow-up actions to control the work tool, e.g. controller} - E02F 9/265: {with follow-up actions (e.g. control signals sent to actuate the work tool)} - A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21) - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - E02F: DREDGING; SOIL-SHIFTING (winning peat E21C49/00) - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract A vehicle control system for an off-road vehicle including a processing circuit including a processor and memory, the memory having instructions stored thereon that, when executed by the processor, cause the processing circuit to receive a first parameter associated with a characteristic of the off-road vehicle, receive a second parameter associated with a characteristic of an environment of the off-road vehicle, generate, based on the first and second parameters, a perception zone for the off-road vehicle, control the off-road vehicle to avoid an obstacle using the perception zone, receive an indication of a change in at least one of the first parameter or the second parameter, and update the perception zone based on the change in the at least one of the first parameter or the second parameter. ## Claims ### Claim 1 A vehicle control system for an off-road vehicle, the system comprising: a processing circuit including a processor and memory, the memory having instructions stored thereon that, when executed by the processor, cause the processing circuit to: receive a first parameter associated with a characteristic of the off-road vehicle; receive a second parameter associated with a characteristic of an environment of the off-road vehicle; generate, based on the first and second parameters, a perception zone for the off-road vehicle; control the off-road vehicle to avoid an obstacle using the perception zone; receive an indication of a change in at least one of the first parameter or the second parameter; and update the perception zone based on the change in the at least one of the first parameter or the second parameter, an indication of an accuracy of a sensor associated with the off-road vehicle, and a confidence level associated with one or more components of the off-road vehicle, wherein the confidence level is based on lifetime parameters of the one or more components. ### Claim 2 (depends on 1) The vehicle control system of claim 1, wherein the first parameter is associated with a mass of the off-road vehicle. ### Claim 3 (depends on 1) The vehicle control system of claim 1, wherein the first parameter is associated with a component health of a component in the off-road vehicle. ### Claim 4 (depends on 1) The vehicle control system of claim 1, wherein the second parameter is associated with a characteristic of ground the off-road vehicle is operating on. ### Claim 5 (depends on 4) The vehicle control system of claim 4, wherein the second parameter includes a cornering stiffness. ### Claim 6 (depends on 1) The vehicle control system of claim 1, wherein the second parameter is associated with at least one of a weather condition or an ambient visibility. ### Claim 7 (depends on 1) The vehicle control system of claim 1, wherein the first parameter is associated with an implement operated by the off-road vehicle. ### Claim 8 (depends on 1) The vehicle control system of claim 1, wherein the perception zone is generated based on historical information. ### Claim 9 (depends on 1) The vehicle control system of claim 1, wherein the off-road vehicle is an agricultural vehicle. ### Claim 10 (depends on 1) The vehicle control system of claim 1, wherein the off-road vehicle is a construction vehicle. ### Claim 11 (depends on 1) The vehicle control system of claim 1, wherein controlling the off-road vehicle to avoid the obstacle using the perception zone includes at least one of causing the off-road vehicle to change in speed or causing the off-road vehicle to change in direction. ### Claim 12 (depends on 11) The vehicle control system of claim 11, wherein controlling the off-road vehicle to avoid the obstacle using the perception zone is performed autonomously without user input. ### Claim 13 A method of obstacle avoidance for an off-road vehicle, comprising: receiving a first parameter associated with a characteristic of the off-road vehicle; receiving a second parameter associated with a characteristic of an environment of the off-road vehicle; generating, based on the first and second parameters, a perception zone for the off-road vehicle; controlling the off-road vehicle to avoid an obstacle using the perception zone; receiving an indication of a change in at least one of the first parameter or the second parameter; and updating the perception zone based on the change in the at least one of the first parameter or the second parameter and an indication of an accuracy of a sensor associated with the off-road vehicle, and a confidence level associated with one or more components of the off-road vehicle, wherein the confidence level is based on lifetime parameters of the one or more components. ### Claim 14 (depends on 13) The method of claim 13, wherein the first parameter is associated with a mass of the off-road vehicle. ### Claim 15 (depends on 13) The method of claim 13, wherein the first parameter is associated with at least one of a component health of a component in the off-road vehicle or an implement operated by the off-road vehicle. ### Claim 16 (depends on 13) The method of claim 13, wherein the second parameter is associated with a characteristic of ground the off-road vehicle is operating on. ### Claim 17 (depends on 13) The method of claim 13, wherein the off-road vehicle is an agricultural vehicle. ### Claim 18 (depends on 13) The method of claim 13, wherein the off-road vehicle is a construction vehicle. ### Claim 19 (depends on 13) The method of claim 13, wherein controlling the off-road vehicle to avoid the obstacle using the perception zone is performed autonomously without user input and includes at least one of causing the off-road vehicle to change in speed or causing the off-road vehicle to change in direction. ### Claim 20 A non-transitory computer-readable storage medium having instructions stored thereon that, when executed by a processor, cause the processor to: receive a first parameter associated with a characteristic of an off-road vehicle; receive a second parameter associated with a characteristic of an environment of the off-road vehicle; generate, based on the first and second parameters, a perception zone for the off-road vehicle; control the off-road vehicle to avoid an obstacle using the perception zone; receive an indication of a change in at least one of the first parameter or the second parameter; and update the perception zone based on the change in the at least one of the first parameter or the second parameter, an indication of an accuracy of a sensor associated with the off-road vehicle, and a confidence level associated with one or more components of the off-road vehicle, wherein the confidence level is based on lifetime parameters of the one or more components.