CA2674398A1 - A vehicle control system - Google Patents

A vehicle control system Download PDF

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Publication number
CA2674398A1
CA2674398A1 CA002674398A CA2674398A CA2674398A1 CA 2674398 A1 CA2674398 A1 CA 2674398A1 CA 002674398 A CA002674398 A CA 002674398A CA 2674398 A CA2674398 A CA 2674398A CA 2674398 A1 CA2674398 A1 CA 2674398A1
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Canada
Prior art keywords
control system
vehicle
spatial
control
controller
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Granted
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CA002674398A
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French (fr)
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CA2674398C (en
Inventor
Andrew John Macdonald
David Robert Reeve
Campbell Robert Morrison
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Agjunction LLC
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Individual
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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/183—Compensation of inertial measurements, e.g. for temperature effects
    • G01C21/188—Compensation of inertial measurements, e.g. for temperature effects for accumulated errors, e.g. by coupling inertial systems with absolute positioning systems
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B69/00—Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
    • A01B69/007—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow
    • A01B69/008—Steering or guiding of agricultural vehicles, e.g. steering of the tractor to keep the plough in the furrow automatic
    • A—HUMAN NECESSITIES
    • A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
    • A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
    • A01B79/00—Methods for working soil
    • A01B79/005—Precision agriculture
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/0252—Radio frequency fingerprinting
    • G01S5/02521—Radio frequency fingerprinting using a radio-map
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Abstract

A vehicle control system having a controller and a spatial database adapted to provide spatial data to the controller at control speed. The spatial data provided from the spatial database to the controller can be any kind of data or information that has some relationship or association with "real world" geographical location, or if it is stored somehow with reference to geographical location. The spatial data received by the controller from the database forms at least part of the control inputs that the controller operates on to control the vehicle. The fact that the controller operates directly on information that is inherently associated with "real world" geographic location represents a change in thinking compared with existing vehicle control systems. In particular, it means that the control system of the present invention "thinks" directly in terms of spatial location. A vehicle control system in accordance with one particular embodiment of the invention comprises a task path generator, a spatial database, at least one external spatial data receiver, a vehicle attitude compensation module, a position error generator, a controller, and actuators to control the vehicle.

Claims (68)

1. A control system for controlling a vehicle within a region to be traversed, the control system comprising a spatial database containing spatial data, a controller adapted to receive spatial data from the spatial database at control speed, the control system being adapted to receive spatial data from one or both of the controller or an external source, the controller using the spatial data for controlling the vehicle.
2. A control system as claimed in claim 1, wherein the vehicle is an agricultural vehicle and the region is a field.
3. A control system as claimed in claim 1, wherein the spatial database is adapted to receive spatial data.
4. A control system as claimed in claim 3, wherein the spatial data received by the spatial database includes updated spatial data.
5. A control system as claimed in claim 4, wherein the spatial database is adapted to provide spatial data to other parts of the control system.
6. A control system as claimed in claim 1, wherein the spatial data received by the controller from the spatial data base forms at least part of the control inputs that the controller uses to control the vehicle.
7. A control system as claimed in claim 4 having a feed forward control structure.
8. A control system as claimed in claim 4, wherein the control system has memory and a central processing unit.
9. A control system as claimed in claim 4, having a closed loop or feedback control structure.
10. A control system as claimed in claim 9, implemented using a state space representation.
11. A control system as claimed in claim 10, having a state feedback control structure.
12. A control system as claimed in claim 10, having an output feedback control structure.
13. A control system as claimed in claim 9, wherein the controller operates using a combination of proportional, integral and differential control.
14. A control system as claimed in claim 13, wherein the controller comprises a plurality of nested control loops.
15. A control system as claimed in any one of claim 4, having an open loop control structure.
16. A control system as claimed in claim 1 including actuators responsive to a control signal produced by the control system.
17. A control system as claimed in claim 4, incorporating means for filtering updated spatial data.
18. A control system as claimed in claim 17, wherein the updated spatial data is filtered in real time or close to it.
19. A control system as claimed in claim 16, incorporating signal transmitting means for transmitting one or more control signals from the control system to the actuators.
20. A control system as claimed in claim 19, comprising amplifiers to amplify the control signal transmitted to the actuators.
21. A control system as claimed in claim 5, wherein the database exhibits low latencies between its inputs and outputs.
22. A control system as claimed in claim 5, wherein there is at least one clock speed associated with the controller, and the database is adapted to provide data to the controller at a rate of the same order as at least one of said clock speeds.
23. A control system as claimed in claim 22, wherein the spatial database is adapted to provide data to the controller at a rate of between 1 Hz and 100 Hz.
24. A control system as claimed in claim 23, wherein the spatial database is adapted to provide data to the controller at a rate of between 1 Hz and 20 Hz.
25. A control system as claimed in claim 24, wherein the spatial database is adapted to provide data to the controller at a rate of between 3 Hz and 12 Hz.
26. A control system as claimed in claim 8, wherein the database is loaded into the control system's memory.
27. A control system as claimed in claim 8, wherein the database is loaded on a disk or other storage device separate from the control system's memory.
28. A control system as claimed in claim 1, wherein the spatial data base has a flat structure.
29. A control system as claimed in claim 28, wherein every item of spatial data is indexed uniquely in the database.
30. A control system as claimed in claim 1, 28 or 29, wherein data is arranged within the database in accordance with a hash table which relates the memory allocations for the different items of spatial data within the database to corresponding indices.
31. A control system as claimed in claim 30, wherein the indices for the different items of data are determined according to the spatial location to which the respective items of data pertain.
32. A control system as claimed in claim 31, wherein a spatial hash key algorithm is used to generate the indices.
33. A control system as claimed in claim 32, wherein the spatial hash key algorithm operates so that data pertaining to spatial locations which are close to each other receive closely related indices.
34. A control system as claimed in claim 33, wherein the spatial hash key algorithm uses bitwise interleaving.
35. A control system as claimed in claim 34, wherein the spatial hash key algorithm uses double-precision floating-point numbers.
36. A control system as claimed in claim 1, wherein the control system is adapted to receive data from at least one external source.
37. A control system as claimed in claim 36, wherein the control system is adapted to receive data from at least one external source at control speed.
38. A control system as claimed in claim 36 or 37, wherein the data received from the at least one external source is used to generate estimates of the vehicle's pose.
39. A control system as claimed in claim 36, wherein the at least one external data source includes GPS.
40. A control system as claimed in claim 39 wherein the GPS is supplemented by a SBAS.
41. A control system as claimed in claim 36, wherein the at least one external data source includes an INS.
42. A control system as claimed in claim 41 wherein the INS includes one or more rate gyros, accelerometers or a combination of both.
43. A control system as claimed in claim 39, wherein the GPS is supplemented by a GBAS.
44. A control system as claimed in claim 36, wherein the at least one external data source includes machine vision and/or image analysis.

44. A control system as claimed in claim 36, wherein the at least one external data source includes LIDAR.
45. A control system as claimed in claim 36, wherein the at least one external data source includes a magnetometer.
46. A control system as claimed in claim 36, wherein the at least one external data source includes a tilt sensor.
47. A control system as claimed in claim 36, wherein the at least one external data source includes ultrasonic range and direction finding.
48. A control system as claimed in claim 36, wherein a filter is used to obtain a statistically optimised estimate of the state of the vehicle.
49. A control system as claimed in claim 48, wherein the filter utilises the data from the one or more external data sources to obtain the optimised estimate.
50. A control system as claimed in claim 49, wherein the filter is a Kalman filter.
51. A control system as claimed in claim 1, including means for interpreting a user-defined path and converting the said user-defined path into a plurality of points representing the user-defined path.
52. A control system as claimed in claim 51, including means for generating a desired position, heading and instantaneous radius of curvature for the vehicle at each point on the user-defined path.
53. A control system as claimed in claim 52, wherein the points representing the user-defined path and the desired position, heading and instantaneous radius of curvature for the vehicle are entered into the spatial database.
54. A control system as claimed in claim 53, including means for calculating an error term relating to the difference between the vehicle's actual position, heading and instantaneous radius of curvature and the vehicle's desired position, heading and instantaneous radius of curvature.
55. A control system as claimed in claim 54, wherein the controller uses the error term to generate a control signal for controlling the vehicle.
56. A closed loop vehicle control system comprising a spatial database, a controller adapted to receive spatial data from the spatial database at control speed, the controller controlling the vehicle, wherein updated spatial data is fed back into the control system.
57. A method for controlling a vehicle comprising entering spatial data relating to a region to be traversed by the vehicle into a spatial database, providing spatial data from the spatial database to a controller at control speed to control the vehicle as the vehicle traverses the region, and entering updated spatial data into the spatial database as the vehicle traverses the region.
58. A method for controlling a vehicle comprising spatial data relating to a region to be traversed by the vehicle being received into a spatial database, providing spatial data from the spatial database to a controller at control speed to control the vehicle as the vehicle traverses the region, and updated spatial data being received into the spatial database as the vehicle traverses the region
59. A vehicle control system comprising a spatial database, a controller adapted to receive spatial data from the spatial database, the controller using the spatial data from the spatial database to control the steering of the vehicle.
60. A vehicle control system having a controller and a spatial database adapted to provide spatial data to the controller at control speed.
61. A control system for controlling a vehicle within a region to be traversed, the control system comprising a spatial database containing spatial data, a controller adapted to receive spatial data from the spatial database at control speed, the controller being adapted to control the vehicle, the spatial database being adapted to receive updated spatial data from the controller and/or an external source, the updated spatial data relating to one or a combination of the vehicle, an implement associated with and proximate the vehicle, the region or at least a portion of the region proximate the vehicle.
62. A vehicle control system to assist in the control of a vehicle, the vehicle control system comprising:
a GPS receiver mounted on the vehicle that continuously outputs location signals;
a control unit, electronically coupled to the GPS receiver, to generate a control signal for controlling the vehicle, the control unit including:

(a) a task path generator for receiving a user-defined path and generating desired vehicle position information;
(b) a spatial database for continuously receiving and storing the location signals received from the GPS receiver and for receiving and storing the desired vehicle position information;
(c) a memory;
(d) a central processing unit;
wherein the control unit operates on spatial data from the spatial database at control speed as the vehicle is moving and generates control signals therefrom to control the vehicle.
63. A vehicle control system to assist in the control of a vehicle, the vehicle control system comprising:
a spatial data receiver that continuously outputs the spatial location of the spatial data receiver;
a control unit, electronically coupled to the spatial data receiver, to generate a control signal for controlling the vehicle, the control unit including:
(a) a task path generator for receiving a user-defined path and generating desired vehicle position information;
(b) a vehicle attitude compensation module to continuously convert data from the spatial data receiver into spatial data pertaining to the spatial location and orientation of a reference point for the vehicle;
(c) a spatial database for continuously receiving and storing the spatial data received from the vehicle attitude compensation module, and for receiving and storing the desired vehicle position information;
(d) a memory;
(e) a central processing unit;
wherein the control unit operates on spatial data from the spatial database at control speed as the vehicle is moving and generates control signals therefrom to control the vehicle.
64. A vehicle control system to assist in the control of a vehicle, the vehicle control system comprising:
a spatial data receiver that continuously outputs location signals;
a control unit, electronically coupled to the spatial data receiver, to generate a control signal for controlling the vehicle, the control unit including:
(a) a task path generator for receiving a user-defined path and generating desired vehicle position information;
(b) a spatial database for continuously receiving and storing the location signals received from the spatial data receiver and for receiving and storing the desired vehicle position information;
(c) a position error generator for generating a signal based on the location signals and the desired vehicle position; and (d) a controller for generating a control signal for controlling the vehicle based on the signal generated by the position error generator.
65. A vehicle control system as claimed in claim 64, wherein the signal generated by the position error generator represents the difference between the location signals and the desired vehicle position.
66. A vehicle control system as claimed in claim 65 wherein the signal generated by the position error generator incorporates the vehicle's instantaneous cross-track error, heading error and curvature error.
67. A vehicle control system as claimed in claim 66 wherein the controller incorporates a cross-track error PID controller, a heading error PID
controller and a curvature error PID controller.
68. A vehicle control system as claimed in claim 67 wherein the controller further includes a curvature demand signal integrator for generating a curvature demand signal by integrating the output from the PID controllers.
CA2674398A 2007-01-05 2008-01-02 A vehicle control system Active CA2674398C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US11/620,388 2007-01-05
US11/620,388 US7835832B2 (en) 2007-01-05 2007-01-05 Vehicle control system
PCT/AU2008/000002 WO2008080193A1 (en) 2007-01-05 2008-01-02 A vehicle control system

Publications (2)

Publication Number Publication Date
CA2674398A1 true CA2674398A1 (en) 2008-07-10
CA2674398C CA2674398C (en) 2012-05-29

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Family Applications (1)

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CA2674398A Active CA2674398C (en) 2007-01-05 2008-01-02 A vehicle control system

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US (2) US7835832B2 (en)
EP (1) EP2114751B1 (en)
AU (1) AU2008203618B2 (en)
BR (1) BRPI0806495A2 (en)
CA (1) CA2674398C (en)
WO (1) WO2008080193A1 (en)

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