US 11,925,132 B2
Methods, apparatus, and articles of manufacture to generate acquisition paths
Simon W. Schaefer, Des Moines, LA (US)
Assigned to Deere & Company, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Jun. 30, 2021, as Appl. No. 17/364,347.
Prior Publication US 2023/0000004 A1, Jan. 5, 2023
Int. Cl. A01B 69/00 (2006.01); A01B 69/04 (2006.01); G05D 1/00 (2006.01)
CPC A01B 69/008 (2013.01) [G05D 1/0219 (2013.01); G05D 1/0278 (2013.01); G05D 2201/0201 (2013.01)] 15 Claims
OG exemplary drawing
 
1. An apparatus including:
input interface circuitry to obtain input data associated with a vehicle;
threshold calculation circuitry to calculate, based on the input data, a threshold curvature and a threshold curvature rate of the vehicle; and
acquisition path generation circuitry to:
select a first point and a second point on a target path of the vehicle;
generate a first acquisition path from a current position of the vehicle to the first point, the first acquisition path including at least two curves;
generate a second acquisition path from the current position of the vehicle to the second point, the second acquisition path including at least two curves;
determine whether the first acquisition path and the second acquisition path satisfy the threshold curvature and the threshold curvature rate;
in response to the first acquisition path and the second acquisition path satisfying the threshold curvature and the threshold curvature rate, calculate a first path length of the first acquisition path and a second path length of the second acquisition path;
compare the first path length and the second path length to determine which acquisition path is shorter;
cause storage of a shorter acquisition path; and
vehicle control circuitry to control steering of the vehicle as it follows the shorter acquisition path.