Patent ID: 9182760
Filing Date: 2015-11-10
Classification: E02F,G05D

Abstract:
1. A method of calibrating a vehicle model used to autonomously control a machine on a worksite, the method comprising: measuring, using a sensor, a first value indicative of an operating condition of the machine; predicting, using a controller, a second value indicative of the operating condition, using the vehicle model; determining a difference between the first value and the second value; identifying calibration conditions required to calibrate the vehicle model when the difference is greater than a predetermined threshold; searching for calibration sites where the vehicle model can be calibrated based on the identified calibration conditions; selecting a calibration site from the calibration sites based on a suitability index representing characteristics of the calibration site; directing the machine to the selected calibration site; and calibrating the vehicle model at the selected calibration site, wherein calibrating the vehicle model includes adjusting the vehicle model such that the second value predicted using the vehicle model is approximately equal to the first value measured using the sensor.