Vision-aided system and method for guiding a vehicle
AssigneeDeere & Company, a Delaware corporation
InventorsShufeng Han, John Reid, Francisco Rovira-Mas
Life of this patent
Estimating the term…
Abstract
A method and system for guiding a vehicle comprises a location determining receiver for collecting location data for the vehicle. A vision module collects vision data for the vehicle. A location quality estimator estimates the location quality data for the location data during an evaluation time window. A vision module estimates vision quality data for the vision data during the evaluation time window. A supervisor module selects a mixing ratio for the vision data and location data (or error signals associated therewith) based on the quality data.
Claims26
A method for guiding a vehicle, the method comprising:
- collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;
- collecting vision data for the vehicle based on a vision module associated with the vehicle;
- estimating location quality data for the location data during an evaluation time window;
- estimating vision quality data for the vision data during the evaluation time window;
- and
- selecting a mixing ratio based on the quality data for the following equation:
- y=α×yvision+(1−α)×ygps, where y is the aggregate error control signal, α is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal.
A method for guiding a vehicle, the method comprising:
- collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;
- collecting vision data for the vehicle based on a vision module associated with the vehicle;
- estimating location quality data for the location data during an evaluation time window;
- estimating vision quality data for the vision data during the evaluation time window;
- and
- selecting a mixing ratio based on the quality data for the following equation:
- y=α×yvision+(1−α)×ygps, where y is the aggregate error control signal, α is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal, wherein the values of α are based on a radius of curvature of a path of the vehicle being less than a reference radius of curvature.
A method for guiding a vehicle, the method comprising:
- collecting location data for the vehicle based on a location-determining receiver associated with the vehicle;
- collecting vision data for the vehicle based on a vision module associated with the vehicle;
- estimating location quality data for the location data during an evaluation time window;
- estimating vision quality data for the vision data during the evaluation time window;
- and
- selecting a mixing ratio based on the quality data for the following equation:
- y=α×yvision+(1−α)×ygps, where y is the aggregate error control signal, α is the mixing ratio, yvision is the vision error signal and ygps is the location data error signal, wherein the values of α are based on a radius of curvature of a path of the vehicle being greater than a reference radius of curvature.
Dependencies are inferred from the claim text.