US 12,139,135 B2
Method for identifying an obstacle
Florian Schott, Einhausen (DE); and Martin Schmidt, Contwig (DE)
Assigned to DEERE & COMPANY, Moline, IL (US)
Filed by DEERE & COMPANY, Moline, IL (US)
Filed on Jul. 8, 2020, as Appl. No. 16/946,819.
Claims priority of application No. 102019210839.3 (DE), filed on Jul. 22, 2019.
Prior Publication US 2021/0024062 A1, Jan. 28, 2021
Int. Cl. B60W 30/095 (2012.01); B60W 30/09 (2012.01); B60W 30/18 (2012.01); B60W 50/14 (2020.01); B62D 21/02 (2006.01); B62D 33/06 (2006.01); G01S 7/48 (2006.01); G01S 17/931 (2020.01)
CPC B60W 30/095 (2013.01) [B60W 30/09 (2013.01); B60W 30/18009 (2013.01); B60W 50/14 (2013.01); B62D 21/02 (2013.01); B62D 33/06 (2013.01); B60W 2420/408 (2024.01); B60W 2554/40 (2020.02); B60W 2554/80 (2020.02); G01S 7/4802 (2013.01); G01S 17/931 (2020.01)] 17 Claims
OG exemplary drawing
 
1. A method for identifying an obstacle during a plurality of work operations of a tractor and rear attached implement combination, comprising:
detecting via a first optical sensor a first object located in a work area yet to be worked in front of the tractor and rear attached implement combination;
detecting via a second optical sensor a second object located in a work area already worked behind the tractor and rear attached implement combination;
identifying via a control unit, including a processor and memory, the first object as a first obstacle based on (1) a predefined classification parameter including a first applicable size category determined based on a size of the first object and a type of a rear attached implement of the tractor and rear attached implement combination, and (2) a predefined work parameter of the rear attached implement including a working width of the rear attached implement; wherein the plurality of work operations includes a planting and a pre-planting operation; and wherein the type of rear attached implement defines whether the rear attached implement is configured to perform the planting work operation or the pre-planting work operation;
identifying via the control unit the second object as a second obstacle based on (1) a predefined classification parameter including a second applicable size category determined based on the size of the second object and the type of the rear attached implement, and (2) the predefined work parameter of the rear attached implement including the working width of the rear attached implement, wherein criteria for classification of the first object as the first obstacle in the work area yet to be worked differs from criteria for classification of the second object as the second obstacle in the work area that has already been worked;
determining via the control unit a distance between the tractor and the first obstacle;
determining via the control unit a time period when the tractor would encounter the first obstacle;
sending via the control unit a warning signal configured to be output at a plurality of differing intensity levels depending on the distance between the tractor and the first obstacle;
reducing via the control unit a speed of the tractor without stopping the tractor when the first obstacle is in the work area yet to be worked in front of the tractor;
displaying via a display the distance, the time period, and a position of the first obstacle; and
storing the position of the first obstacle as retrievable position data in a database accessible by other vehicles.