US 12,140,964 B2
System and method for autonomous work machine exception handling
Margaux M Ascherl, Adel, IA (US); Jeffrey E. Runde, Cedar Falls, IA (US); Curtis A. Maeder, Johnston, IA (US); and David. A. Johnson, Durham, NC (US)
Assigned to Deere & Company, Moline, IL (US)
Filed by Deere & Company, Moline, IL (US)
Filed on Feb. 19, 2021, as Appl. No. 17/179,893.
Prior Publication US 2022/0269282 A1, Aug. 25, 2022
Int. Cl. G05D 1/00 (2024.01); B60W 30/09 (2012.01); B60W 50/14 (2020.01); B60W 60/00 (2020.01); G07C 5/08 (2006.01)
CPC G05D 1/0253 (2013.01) [B60W 30/09 (2013.01); B60W 60/0015 (2020.02); G05D 1/0011 (2013.01); G05D 1/0088 (2013.01); G07C 5/0808 (2013.01); B60W 50/14 (2013.01); B60W 2420/403 (2013.01); B60W 2554/00 (2020.02); B60W 2556/45 (2020.02); G05D 1/0242 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A computer-implemented method of handling object detection in an autonomous work machine, the method comprising:
detecting an object while performing an agricultural mission with the autonomous work machine, the autonomous work machine including a tractor and a towed implement, the towed implement having a width greater than a width of the tractor;
determining, with a robotic controller of the autonomous work machine, whether the object requires the work machine to take action to avoid the object based on a detected position of the object, a current path of the work machine, and a width of the towed implement;
selectively obtaining information relative to object detection and storing the information, based on the determination of whether the object requires the autonomous work machine to take action to avoid the object;
determining, with the robotic controller of the autonomous work machine, whether the obstacle is in a category and in a location that requires the autonomous work machine to stop;
based the determination of whether the work machine is required to stop, selectively halting motion of the work machine;
generating a communication to a supervisor indicating that motion has been halted and requesting user input; and
based on the user input selectively continuing the mission or shutting down the autonomous work machine.