Patent ID: 11906974
Assignee: DEERE & COMPANY
Field: Control (Instruments)
Classification: CPC G | IPC G

Claim 14:
15. An autonomous off-road vehicle comprising a hardware processor and a non-transitory computer-readable storage medium storing executable instructions that, when executed by the hardware processor, cause the autonomous off-road vehicle to perform steps comprising:
navigating a route from a first location to a second location within an off-road environment;
while navigating the route, identifying an obstruction obstructing the route;
applying a first machine-learned model to sensor data representative of the obstruction, the first machine-learned model configured to attempt to identify a type of the obstruction and, based on the type of obstruction, determine whether the obstruction can be ignored;
in response to determining that the obstruction can be ignored, continuing navigating along the route;
in response to determining that the obstruction cannot be ignored, modifying the route to avoid the obstruction; and
in response to the first machine-learned model being unable to determine whether or not the identified obstruction obstructing the route can be ignored based on being unable to identify the type of the obstruction, applying a dimension-based model to depth data representative of the obstruction, the dimension-based model configured to determine whether the obstruction can be ignored based on dimensions of the obstruction,
wherein the dimension-based model is trained based on a set of training data representative of interactions between vehicles and obstructions, wherein the set of training data includes information describing a change in a condition of one or both of a vehicle and an obstruction with which the vehicle interacted.