公开(公告)号：US10921825B2

公开(公告)日：2021-02-16

申请号：US16174278

申请日：2018-10-29

Applicant: Automodality, inc.

Inventor： Edward Lee Koch

IPC: G05D1/10 ,  B64C39/02 ,  G08G5/00

Abstract: A navigation system and a navigation method for an autonomous vehicle (AV) includes a system controller and an environmental sensor. The system controller determines an AV positional pose, which identifies the location of the AV, which further includes an AV position and an AV orientation in three-dimensional space. Additionally, the system controller determines a frame of reference that is associated with the AV positional pose. The frame of reference includes a coordinate system for the AV position and the AV orientation. A localization module determines the AV positional pose and the corresponding frame of reference. The localization module is associated with the system controller. The system controller then identifies at least one asset feature frame (AFF), which associates the AV positional pose with the feature in the AV environment. The system controller generates a motion control command based the AV positional pose and the AFF.

公开(公告)号：US11947354B2

公开(公告)日：2024-04-02

申请号：US17888443

申请日：2022-08-15

Applicant: Automodality, Inc.

Inventor： Edward Lee Koch ,  Daniel Allan Hennage

IPC: G05D1/00 ,  G01C21/00 ,  G06F16/29 ,  G06F16/9537

CPC classification number: G05D1/0088 ,  G01C21/3841 ,  G06F16/29 ,  G06F16/9537 ,  Y10S707/99945 ,  Y10S707/99948

Abstract: An Autonomous Vehicle (AV) system is described. The AV system is capable of determining at motor control command associated with an AV trajectory. The AV system includes a content generating device, a system controller, and an AV sensor. The content generating device collects target data associated with a target. The system controller is communicatively coupled to the content generating device. The system controller extracts target features from the target data. Also, the system controller compares the extracted target features to target model data to determine a target pose. Additionally, the system controller determines the AV trajectory by comparing the target pose with at least one target objective. The AV sensor determines an AV state. The system controller determines a motor control command associated with the AV trajectory based on the AV state, the target objective, and the AV trajectory.

公开(公告)号：US11726501B2

公开(公告)日：2023-08-15

申请号：US17153511

申请日：2021-01-20

Applicant: Automodality, Inc.

Inventor： Edward Lee Koch

IPC: G05D1/10 ,  B64C39/02 ,  G08G5/00

CPC classification number: G05D1/101 ,  B64C39/024 ,  G08G5/0034 ,  B64U2201/10 ,  B64U2201/104

Abstract: A navigation system and method for an autonomous vehicle (AV) that includes a system controller and an environmental sensor. The system controller determines a fixed local frame (LCF) having a coordinate system originating at a fixed location in three-dimensional space. Additionally, the system controller determines an AV positional pose in LCF coordinates, which identifies an AV position in three-dimensional space and an AV orientation in three-dimensional space. An environmental sensor detects an asset feature of an asset moving within three-dimensional space. The system controller then identifies an asset feature frame (AFF) having a coordinate system originating at the asset feature. A localization module determines the AV positional pose in the AFF coordinates. The system controller then dynamically transforms the AV position pose from the LCF coordinates to the AFF coordinates and generates a motion control command based on the AV positional pose in the AFF coordinates.

公开(公告)号：US20230251655A1

公开(公告)日：2023-08-10

申请号：US17888443

申请日：2022-08-15

Applicant: Automodality, Inc.

Inventor： Edward Lee Koch ,  Daniel Allan Hennage

IPC: G05D1/00 ,  G06F16/29 ,  G06F16/9537 ,  G01C21/00

CPC classification number: G05D1/0088 ,  G01C21/3841 ,  G06F16/29 ,  G06F16/9537 ,  Y10S707/99945 ,  Y10S707/99948

Abstract: An Autonomous Vehicle (AV) system is described. The AV system is capable of determining at motor control command associated with an AV trajectory. The AV system includes a content generating device, a system controller, and an AV sensor. The content generating device collects target data associated with a target. The system controller is communicatively coupled to the content generating device. The system controller extracts target features from the target data. Also, the system controller compares the extracted target features to target model data to determine a target pose. Additionally, the system controller determines the AV trajectory by comparing the target pose with at least one target objective. The AV sensor determines an AV state. The system controller determines a motor control command associated with the AV trajectory based on the AV state, the target objective, and the AV trajectory.

公开(公告)号：US20200225660A1

公开(公告)日：2020-07-16

申请号：US16694957

申请日：2019-11-25

Applicant: Automodality, Inc.

Inventor： Edward Lee Koch ,  Daniel Allan Hennage

IPC: G05D1/00 ,  G01S5/02 ,  G06F16/29 ,  G06F16/9537

Abstract: Systems and methods for collecting and geocoding object data are described. More particularly, a system for collecting and geocoding object data includes an AV, a chronicle server, and a user device. The AV receives a mission specification that includes a route to be traversed by the AV. The AV traverses the route and collects object data along the way. The AV collects location data along the route. The chronicle server receives the object data and the location data from the

公开(公告)号：US12079011B2

公开(公告)日：2024-09-03

申请号：US18233096

申请日：2023-08-11

Applicant: Automodality, Inc.

Inventor： Edward Lee Koch

IPC: G05D1/10 ,  B64C39/02 ,  G05D1/00 ,  G05D1/46 ,  G08G5/00

CPC classification number: G05D1/101 ,  B64C39/024 ,  G05D1/46 ,  G08G5/0034 ,  B64U2201/10 ,  B64U2201/104

Abstract: An agricultural navigation system and method for an autonomous vehicle (AV) is described. The agricultural navigation system includes a system controller, a localization module associated with the system controller, and an environmental sensor. The system controller determines an AV positional pose that identifies the location of the AV. The system controller determines a relative body frame of reference (RBF) that is associated with the AV positional pose. The environmental sensor detects an asset feature in the AV environment. The asset feature includes an agricultural asset feature having a crop row. The system controller identifies at least one asset feature frame (AFF) that includes a coordinate system originating at the asset feature. The localization module determines the AV positional pose in the coordinate system of the AFF. The system controller transforms the AV positional pose from the RBF coordinate system to the coordinate system of the AFF.

公开(公告)号：US20240126294A1

公开(公告)日：2024-04-18

申请号：US18233096

申请日：2023-08-11

Applicant: Automodality, Inc.

Inventor： Edward Lee Koch

IPC: G05D1/46 ,  B64C39/02 ,  G08G5/00

CPC classification number: G05D1/46 ,  B64C39/024 ,  G08G5/0034 ,  B64U2201/10 ,  B64U2201/104

Abstract: An agricultural navigation system and method for an autonomous vehicle (AV) is described. The agricultural navigation system includes a system controller, a localization module associated with the system controller, and an environmental sensor. The system controller determines an AV positional pose that identifies the location of the AV. The system controller determines a relative body frame of reference (RBF) that is associated with the AV positional pose. The environmental sensor detects an asset feature in the AV environment. The asset feature includes an agricultural asset feature having a crop row. The system controller identifies at least one asset feature frame (AFF) that includes a coordinate system originating at the asset feature. The localization module determines the AV positional pose in the coordinate system of the AFF. The system controller transforms the AV positional pose from the RBF coordinate system to the coordinate system of the AFF.

公开(公告)号：US11415986B2

公开(公告)日：2022-08-16

申请号：US16694957

申请日：2019-11-25

Applicant: Automodality, Inc.

Inventor： Edward Lee Koch ,  Daniel Allan Hennage

IPC: G05D1/00 ,  G01S5/02 ,  G06F16/29 ,  G06F16/9537

Abstract: Systems and methods for determining an Automated Vehicle (AV) trajectory are described. More particularly, a method for determining an AV trajectory proceeds by communicatively coupling an AV content generating device to an AV system controller. The AV content generating device collects target data associated with a target. The AV system controller extracts target features from the target data. The AV system controller compares the extracted target features to target model data to determine a target pose. The AV system controller compares the target pose with at least one target objective to determine an AV trajectory.

公开(公告)号：US20210318696A1

公开(公告)日：2021-10-14

申请号：US17153511

申请日：2021-01-20

Applicant: Automodality, Inc.

Inventor： Edward Lee Koch

IPC: G05D1/10 ,  B64C39/02 ,  G08G5/00

Abstract: A navigation system and method for an autonomous vehicle (AV) that includes a system controller and an environmental sensor. The system controller determines a fixed local frame (LCF) having a coordinate system originating at a fixed location in three-dimensional space. Additionally, the system controller determines an AV positional pose in LCF coordinates, which identifies an AV position in three-dimensional space and an AV orientation in three-dimensional space. An environmental sensor detects an asset feature of an asset moving within three-dimensional space. The system controller then identifies an asset feature frame (AFF) having a coordinate system originating at the asset feature. A localization module determines the AV positional pose in the AFF coordinates. The system controller then dynamically transforms the AV position pose from the LCF coordinates to the AFF coordinates and generates a motion control command based on the AV positional pose in the AFF coordinates.