Patent ID: 6173215
Filing Date: 2001-01-09
Classification: B60K,B60W,B60Y,G01S,G05D

Abstract:
A method for responding to the detection of an obstacle in the path of a mobile machine, the mobile machine traversing the path at a work site, including the steps of:scanning a field of interest in the path;detecting the presence of an obstacle in the path;determining at least one parameter as a function of at least one of the mobile machine, the detected obstacle, and the work site;determining a level of predictability of motion of the detected obstacle relative to motion of the mobile machine, the level of predictability being a function of a planned heading and velocity of the detected obstacle;setting a range of each of a plurality of zones on a segment of the path being traversed by the mobile machine, the range of each zone being set in response to the level of predictability and the at least one parameter; andinitiating a responsive action by the mobile machine as a function of the zone that the obstacle is located in.