US 12,032,383 B2
Localized obstacle avoidance for optimal V2V path planning
Phillip Duane Dix, Westmont, IL (US); Daniel Geiyer, Bolingbrook, IL (US); Aditya Singh, Bolingbrook, IL (US); and Navneet Gulati, Naperville, IL (US)
Assigned to CNH Industrial America LLC, New Holland, PA (US)
Filed by CNH Industrial America LLC, New Holland, PA (US)
Filed on May 22, 2020, as Appl. No. 16/882,115.
Prior Publication US 2021/0365036 A1, Nov. 25, 2021
Int. Cl. G05D 1/00 (2006.01); A01D 41/02 (2006.01); A01D 41/127 (2006.01)
CPC G05D 1/0238 (2013.01) [A01D 41/02 (2013.01); A01D 41/1278 (2013.01); G05D 1/0219 (2013.01); G05D 1/0274 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A vehicle control system for an agricultural vehicle, the system comprising:
a processing circuit including a processor and memory, the memory having instructions stored thereon that, when executed by the processor, cause the processing circuit to:
receive a location of a first vehicle;
update a coverage map based on the location of the first vehicle, wherein the coverage map represents a region of operation for the agricultural vehicle and the first vehicle;
designate one or more areas of the coverage map as one or more repulsion fields based on the location of the first vehicle;
generate a path from the agricultural vehicle to a drop-off point based on the one or more repulsion fields; and
operate the agricultural vehicle based on the generated path;
wherein each repulsion field defines a repulsive force generated when the agricultural vehicle enters the repulsion field, wherein the repulsive force is generated based on a proximity between the first vehicle and the agricultural vehicle.