Path selection

In accordance with an example embodiment, a method of controlling a work vehicle includes sensing a surrounding environment of a work vehicle with a sensor, identifying an item of interest, determining a path toward or away from the item using the work vehicle's position, heading, and velocity, displaying the path, receiving a special steer command, steering the work vehicle based on the special steer command if the special steer command is received when no path is being displayed on the operator display, and autonomously controlling the work vehicle to travel along the path based on the special steer command if the special steer command is received while the path is being displayed on the operator display.

TECHNICAL FIELD

The present disclosure generally relates to a method for selecting a path for a work vehicle.

BACKGROUND

Work vehicles may use sensors and reference information to identify items in the environment surrounding the work vehicle. Work vehicles may also generate a path to a destination based on the current position, heading, and velocity of the work vehicle.

SUMMARY

Various aspects of examples of the present disclosure are set out in the claims.

According to a first aspect of the present disclosure, a method for controlling a work vehicle may include sensing a surrounding environment of the work vehicle with a sensor, identifying an item of interest in the surrounding environment, determining a path using at least one of the work vehicle's position, heading, and velocity, the path leading toward or around the item of interest, displaying, on an operator display visible to an operator of the work vehicle, the path, receiving, from an operator input used to steer the work vehicle, a special steer command, steering the work vehicle based on the special steer command if the special steer command is received when no path is being displayed on the operator display, and autonomously controlling the work vehicle to travel along the path based on the special steer command if the special steer command is received while the path is being displayed on the operator display.

The above and other features will become apparent from the following description and accompanying drawings.

Like reference numerals are used to indicate like elements throughout the several figures.

DETAILED DESCRIPTION

At least one example embodiment of the subject matter of this disclosure is understood by referring toFIGS. 1 through 4of the drawings.

FIGS. 1-3illustrate various views and components of a work vehicle100operating in an environment102surrounding the work vehicle100. The work vehicle100has an operator station104, or cab, from which an operator may control the work vehicle100or an attachment106included in the work vehicle100, in this case a header. The work vehicle100also has a sensor108which can sense one or more aspects of the environment102. The sensor108may directly sense an aspect of the environment102, such as with a camera, radar, lidar, thermal imager, or ultrasonic sensor. The sensor108may also indirectly sense an aspect of the environment102, such as a satellite navigation receiver which provides the position of the work vehicle100, then can use that position to reference a database to find items in the environment102surrounding the work vehicle100such as roads, fields, buildings, or addresses. A VCU110, which may also be referred to as a Vehicle Control Unit or a controller, is also included in the work vehicle100and is used to gather sensor data, run algorithms and stored programs, and provide control of the work vehicle100.

FIG. 1depicts the view from a perspective of an operator sitting in the operator station104of the work vehicle100. The operator may view the environment102through a windshield112of the operator station104, and such view may include an item of interest112such as a building114, crop rows116, or a person118, or other items of interest such as entry points to a road, field, or building, or other vehicles. The operator may control the work vehicle100through operator inputs such as an operator input120, illustrated as a joystick in this embodiment but which could be a wheel, rocker, or other input types. The operator may steer the work vehicle100to the left by actuating the operator input120to the left, and steer right by actuating it to the right, such that greater actuation (displacement) of the operator input120is associated with increased steering of the work vehicle100. The operator may also see a display122while operating the work vehicle100, with the display122mounted in the operator station104in a position visible to the operator during operation of the work vehicle100.

FIG. 2is a view of the operator input120with multiple different positions illustrated. The operator input120may be in a neutral position120a, in which no steering command is being issued, to which it is spring-loaded to return absent an external force. The operator input120may be in partially actuated positions120band120c, commanding steering to the left and right respectively, which may also be referred to as threshold steering positions or actuations of at least a threshold angle Θ1. The operator input120may also be in fully actuated positions120eand120d, commanding maximum steering to the left and right respectively, which may also be referred to as maximum steering positions or actuations of at least, or approximately, angle Θ2.

FIG. 3is a view of the display122, which is displaying a user interface124in this embodiment which includes multiple items of an interest in the environment102, such as the building114, the crop rows116, and the person118. The user interface124also includes a first path126leading toward the building114and a second path128leading toward the crops rows116.

FIG. 4is a flowchart of a control system200which the VCU110may execute to generate and display the user interface124. In step202, the VCU110of the work vehicle100is in communication with the sensor108and the operator input120and receives input therefrom. In this embodiment, the sensor108senses the environment102surrounding the work vehicle100by using a camera to capture images of the environment in front of the work vehicle100and by using a satellite navigation receiver (e.g., a GNSS receiver) to determine the position, heading, and velocity of the work vehicle100.

In step204, the VCU110identifies items of interest in the environment102surrounding the work vehicle100using the input received from the sensor108. The building114and the crop rows116are identified by comparing the location of the work vehicle100, determined using input received from the satellite navigation receiver of the sensor108, with the known locations of the building114and the crop rows116from a database (e.g., a map) accessed by the VCU110. This database may reside in the memory of the VCU110, or the VCU110may use a wireless data network to access a database stored on a remote server. With the known position and heading of the work vehicle100from the satellite navigation receiver of the sensor108, the VCU110can retrieve a map which includes a plurality of nearby items of interest, such as the building114and the crop rows116, marked or displayed in the retrieved map. The VCU110can then add additional items of interest to the map to form the user interface124. As one example, the VCU110can identify the person118in the environment102by applying a trained neural network algorithm to the raw image data received from the camera of the sensor108(using known techniques in the field), and then place an indicator or icon representing the person on the user interface124. As another example, the VCU110can superimpose a rendered image of the work vehicle100on the user interface124.

In step206, the VCU110determines the first path126and the second path128in order to add those to the user interface124. The VCU110can use at least one of the work vehicle's position, heading, and velocity, from the satellite navigation receiver of the sensor108, to determine a path toward the building114(the first path126) and a path toward the crop rows116(the second path128), both of which are items of interest that the VCU110identified in the environment102. These paths can be created using techniques known in the art of mapping and navigation. In an alternative embodiment, one of the first path126or the second path128could lead away from an item of interest, such as the person118, instead of toward an item of interest.

In step208, the VCU110displays the user interface124on the display122. At this point, the user interface124includes the map retrieved using position and heading information from the sensor108with representations of the building114and the crop rows116, an indicator for the person118, a rendered image of the work vehicle100, and representations of both the first path126and the second path128, can then be displayed by the VCU110on the display122. The operator of the work vehicle100can then receive a view of the user interface124such as that shown inFIG. 3.

Prior to seeing the first path126and the second path128included in the user interface124and shown on the display122, the operator may steer the work vehicle by actuating the operator input120, as described with regarding toFIG. 2. Upon seeing the first path126and the second path128on the user interface124, the operator may make a path selection by actuating the operator input120with a special steer command. In step210, the VCU110determines whether it received this special steer command and proceeds to step212if it has, and step202if it has not. This special steer command is a distinct actuation of the operator input120that would normally cause the work vehicle100to be steered according to the command, but which will instead cause the VCU110to autonomously control the work vehicle100to travel along one of the first path126or the second path128if the special steer command is received while such paths appear on the user interface124. One example of a special steer command is to actuate the operator input120past a threshold steering position, such as the partially actuated positions120bor120c, which would command the VCU110to autonomously travel along the first path126or the second path128, respectively. Another example of a special steering command is to actuate the operator input120to the fully actuated positions120eor120d, which would command the VCU110to autonomously travel along the first path126or the second path128, respectively. Another example of a special steering command would be a “stab” on the operator input120, which would be a rapidly applied and removed actuation of the operator input120(often, at approximately the highest speed an operator may comfortably perform a momentary actuation), such that a leftward stab or rightward stab would command the VCU110to autonomously travel along the first path126or the second path128, respectively.

In step212, the VCU110autonomously controls the work vehicle100to travel along the first path126or the second path128if the special steer command was received while the first path126or the second path128was being displayed on the display122at the time the special steer command was received. The autonomous control of a vehicle to travel along a defined path or route can be performed according to known techniques in the art. While the VCU110is autonomously controlling the work vehicle100to travel along a path, the operator may cease such autonomous navigation in a number of different ways, such as by actuating the operator input120or another input (e.g., a brake pedal, an accelerator pedal, or a button appearing on the user interface124).

Should the operator not give the special steer command in step210, the VCU110may cycle through steps202through208until the operator does provide such a command. In this way, the VCU110may update one or both of the first path126and the second path128to reflect changes in position, heading, or velocity of the work vehicle100. The first path126and the second path128may also point to different identified items of interest as the position of the work vehicle100changes, for example selecting a new item of interest as the destination for the first path126if the work vehicle100passes the building114. The operator may thus operate the work vehicle100manually, steering it via the actuation of the operator input120, until the operator sees a suggested path on the user interface124which the operator wants the VCU110to autonomously follow and only then issue the special steering command.

Without in any way limiting the scope, interpretation, or application of the claims appearing below, a technical effect of one or more of the example embodiments disclosed herein is to provide the operator of a work vehicle100with a user interface and input method and system that allows for both manual and autonomous control, and the selection of autonomous control along dynamically created path suggestions as the work vehicle100is operated.

As used herein, “controller” is intended to be used consistent with how the term is used by a person of skill in the art, and refers to a computing component with processing, memory, and communication capabilities which is utilized to control or communicate with one or more other components. In certain embodiments, a controller may also be referred to as a control unit, vehicle control unit (VCU), engine control unit (ECU), or transmission control unit (TCU). In certain embodiments, a controller may be configured to receive input signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals), and to output command signals in various formats (e.g., hydraulic signals, voltage signals, current signals, CAN messages, optical signals, radio signals).

VCU110is in communication with the sensor108, operator input120, and other components on work vehicle100. In the embodiment shown inFIGS. 1-3, VCU110is electrically connected to these other components by a wiring harness such that messages, commands, and electrical power may be transmitted between VCU110and the other components, but alternative embodiments may employ wireless communications and/or power transmission as is known in the art. For the sake of brevity, conventional techniques and arrangements related to signal processing, data transmission, signaling, control, and other aspects of the systems disclosed herein may not be described in detail.

While the present disclosure has been illustrated and described in detail in the drawings and foregoing description, such illustration and description is not restrictive in character, it being understood that illustrative embodiment(s) have been shown and described and that all changes and modifications that come within the spirit of the present disclosure are desired to be protected. Alternative embodiments of the present disclosure may not include all of the features described yet still benefit from at least some of the advantages of such features. Those of ordinary skill in the art may devise their own implementations that incorporate one or more of the features of the present disclosure and fall within the spirit and scope of the appended claims.