US 12,079,011 B2
System and method for perceptive navigation of automated vehicles
Edward Lee Koch, San Rafael, CA (US)
Assigned to FARMX, INC., Mountain View, CA (US)
Filed by Automodality, Inc., Syracuse, NY (US)
Filed on Aug. 11, 2023, as Appl. No. 18/233,096.
Application 18/233,096 is a continuation of application No. 17/153,511, filed on Jan. 20, 2021, granted, now 11,726,501.
Application 17/153,511 is a continuation of application No. 16/174,278, filed on Oct. 29, 2018, granted, now 10,921,825, issued on Feb. 16, 2021.
Claims priority of provisional application 62/581,687, filed on Nov. 4, 2017.
Prior Publication US 2024/0126294 A1, Apr. 18, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/10 (2006.01); B64C 39/02 (2023.01); G05D 1/00 (2006.01); G05D 1/46 (2024.01); G08G 5/00 (2006.01)
CPC G05D 1/101 (2013.01) [B64C 39/024 (2013.01); G05D 1/46 (2024.01); G08G 5/0034 (2013.01); B64U 2201/10 (2023.01); B64U 2201/104 (2023.01)] 20 Claims
OG exemplary drawing
 
1. An agricultural navigation system for an autonomous vehicle (AV), the system comprising:
a system controller associated with the AV, in which the system controller has a world model that includes at least one of a two-dimensional world model and a three-dimensional world model, wherein the system controller determines an AV positional pose that identifies the location of the AV, wherein the location of the AV includes an AV position and an AV orientation in at least one of the two-dimensional space and the three-dimensional space;
the system controller determines a relative body frame of reference (RBF) that is associated with the AV positional pose, wherein the RBF includes a coordinate system originating at the AV position and describing the AV orientation;
an environmental sensor associated with the AV, in which the environmental sensor detects an asset feature in the AV environment, wherein the asset feature includes an agricultural asset feature having a crop row;
the system controller identifying at least one asset feature frame (AFF) that includes a coordinate system originating at the asset feature and fixed local reference (LCF);
a localization module associated with the system controller, wherein the localization module determines the AV positional pose in the coordinate system of the AFF; and
the system controller transforming the AV positional pose from the RBF coordinate system to the coordinate system of the AFF.