Lokalisierungssystem für Autonome Arbeitsfahrzeuge

Details

Veröffentlichungs-Nr.

EP4748214

Anmeldetag

10. November 2025

Veröffentlichung

27. Mai 2026

Rechtsraum

EP

IPC

A01B69/00, A01B69/04

Abstract

A system is provided for localizing an autonomous work vehicle within mapped agricultural environments when GPS may be unavailable. Range sensors capture LiDAR images that are segmented by a trained model into features such as trunks and canopy. Trunk points are clustered to compute centroids, which are used to estimate left and right tree lines and a lane centerline relative to the vehicle. This sensor-derived centerline is compared with georeferenced lane and row geometry stored in a digital map. A particle filter maintains multiple pose hypotheses, propagates them using vehicle odometry, and weights them according to alignment between the lane centerline relative to the vehicle and the mapped lane geometry for the particle. Resampling and averaging of high-weight hypotheses produces an adjusted pose that corrects for lateral and heading errors. The adjusted pose serves as input to a navigation controller that issues steering and speed commands, enabling accurate autonomous operation.

Anmelder

Firma

Deere & Company

Land

🇺🇸 USA