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

Claim 0:
1. A method for autonomously navigating an off-road vehicle, comprising:
navigating, by an autonomous off-road vehicle, a route from a first location to a second location within an off-road environment;
while navigating the route, identifying, by the autonomous off-road vehicle, an obstruction obstructing the route;
applying, by the autonomous off-road vehicle, 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, by the autonomous off-road vehicle, navigating along the route;
in response to determining that the obstruction cannot be ignored, modifying, by the autonomous off-road vehicle, 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, by the autonomous off-road vehicle, 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.