Patent ID: 8755966

Claim:
A control system for an autonomous ground based machine, comprising: a positioning unit configured to measure a position and an orientation of the machine; a navigation unit in communication with the positioning unit and storing a route plan including an intended travel path along a lane, wherein the lane has a width defined by a left-hand boundary and a right-hand boundary, the navigation unit configured to: receive an uncertainty value associated with at least one of the position and the orientation; create a virtual two-dimensional footprint based on an actual footprint of the machine and the uncertainty value, wherein the virtual two-dimensional footprint encompasses the actual footprint; simulate movement of the virtual two-dimensional footprint along the intended travel path; calculate a left-hand margin value defined by the virtual two-dimensional footprint and the left-hand boundary, and a right-hand margin value defined by the virtual two-dimensional footprint and the right-hand boundary; compare the left-hand margin value and the right-hand margin value to a predetermined minimum lane margin value; and control at least one of a speed and a travel direction of the machine if either of the left-hand margin value and the right-hand margin value is below the predetermined minimum lane margin value.