	US 12,233,864 B2
	Navigation method and system including segmentation of a route into polygonal forms
Marcelo Sedoski Junior, Curitiba PR (BR)
Assigned to Robert Bosch Limitada, Campinas SP (BR)
Appl. No. 17/767,631
Filed by Robert Bosch Limitada, Campinas SP (BR)
PCT Filed Oct. 13, 2020, PCT No. PCT/BR2020/050408 § 371(c)(1), (2) Date Jun. 28, 2022, PCT Pub. No. WO2021/068050, PCT Pub. Date Apr. 15, 2021.
Claims priority of application No. 10 2019 021266-7 (BR), filed on Oct. 10, 2019.
Prior Publication US 2024/0101108 A1, Mar. 28, 2024
Int. Cl. G05D 1/24 (2024.01); A01B 69/04 (2006.01); B60W 30/10 (2006.01); G01C 21/34 (2006.01)

CPC B60W 30/10 (2013.01) [A01B 69/008 (2013.01); G01C 21/3415 (2013.01); G05D 1/24 (2024.01)]

8 Claims

1. A navigation method that comprises determining a position of an element (P) in relation to a certain route to be traversed by a vehicle, wherein said navigation method comprises the steps of:

obtaining, at a navigation device, a route to be traversed by the vehicle;

identifying, by a position identification means, the position of the element (P);

segmenting, through a computer, the route to be traversed by the vehicle into a plurality of polygonal forms (10) comprising, at least, four vertexes;

checking a space relation between the element (P) and one of the plurality of polygonal forms (10) through the computer, wherein checking the space relation comprises the steps of:

dividing, via the computer, the one of the plurality of polygonal forms (10) through a first diagonal line that connects two opposite vertexes, to define a first triangle (1) with a first vertex (11), with a second vertex (121), with a third vertex (122) and with an internal area, as well as a second triangle (2) with a first vertex (22), with a second vertex (121), with a third vertex (122) and an internal area;

connecting, via the computer, the element (P) to the vertexes of the first triangle (1), to define a third triangle (3) with an area, a fourth triangle (4) with an area and a fifth triangle (5) with an area;

connecting, via the computer, the element (P) to the vertexes of the second triangle (2), to define a sixth triangle (6) with an area, a seventh triangle (7) with an area and an eighth triangle (8) with an area;

calculating, via the computer, the area of the third triangle (3), the area of the fourth triangle (4), the area of the fifth triangle (5), the area of the sixth triangle (6), the area of the seventh triangle (7) and the area of the eighth triangle (8);

comparing, via the computer, the area of the first triangle (1) to a result of a first sum of the area of the third triangle (3), of the area of the fourth triangle (4) and of the area of the fifth triangle (5);

comparing, via the computer, the area of the second triangle (2) to a result of a second sum of the area of the sixth triangle (6), the area of the seventh triangle (7) and the area of the eight triangle (8);

processing, via the computer, a result from the comparison between the area of the first triangle (1) and the first sum of areas, as well as the result from the comparison between the area of the second triangle (2) and the second sum of areas;

outputting, via the computer, a result on the position of the element (P) in relation to the one of the plurality of polygonal forms (10) as a result of the comparisons;

correcting the route or shutting-off of planting rows according to the output result on the position of the element (P) in relation to the one of the plurality of polygonal forms (10).