| CPC E02F 9/2045 (2013.01) [E02F 9/2054 (2013.01); E02F 9/26 (2013.01); G05B 13/048 (2013.01); G07C 5/008 (2013.01)] | 20 Claims |
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1. A computer-implemented method comprising:
repeatedly, during operations of an earth-moving vehicle for performing one or more tasks on a site under control of at least one human operator,
transferring, by a computing device on the earth-moving vehicle and to one or more computing systems remote from the earth-moving vehicle, actual operational data gathered from the earth-moving vehicle during the performing of the one or more tasks, including data about inputs supplied by the at least one human operator to controls of the earth-moving vehicle, and including perception data from one or more sensors on the earth-moving vehicle indicating at least three-dimensional (3D) surfaces of an area of the site around the earth-moving vehicle, and including vehicle data from one or more additional sensors on the earth-moving vehicle regarding vehicle status and movements of components of the earth-moving vehicle;
updating, by the computing device on the earth-moving vehicle, and based on the perception data, a 3D map of the 3D surfaces of the area of the site around the earth-moving vehicle; and
training, by the one or more computing systems remote from the earth-moving vehicle and based on the transferred actual operational data, a model predictive control (MPC) vehicle behavior and environment dynamics model specific to the earth-moving vehicle, the MPC vehicle behavior and environment dynamics model encoding information about movements of the components of the earth-moving vehicle to implement the performing of the one or more tasks and about resulting changes to the 3D surfaces of the area of the site from the performing of the one or more tasks;
determining, after training the MPC vehicle behavior and environment dynamics model, to initiate autonomous operations on the earth-moving vehicle;
deploying, by at least one of the one or more computing systems remote from the earth-moving vehicle or the computing device on the earth-moving vehicle, a current copy of the trained MPC vehicle behavior and environment dynamics model on the earth-moving vehicle, including transferring the current copy from the one or more computing systems to the earth-moving vehicle; and
initiating, by the computing device on the earth-moving vehicle and using the deployed current copy of the trained MPC vehicle behavior and environment dynamics model on the earth-moving vehicle, the autonomous operations on the earth-moving vehicle.
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