公开(公告)号：US20240147888A1

公开(公告)日：2024-05-09

申请号：US17981725

申请日：2022-11-07

Applicant: Trimble Inc.

Inventor： Shantnu Kakkar ,  Juan Carlos Santamaria ,  Eduardo Wiputra ,  Joshua Rands ,  Brandon Sights ,  Caroline Starbird

IPC: A01B69/04 ,  A01B69/00 ,  G05D1/02

CPC classification number: A01B69/008 ,  A01B69/004 ,  G05D1/0214 ,  G05D1/0223 ,  G05D2201/0201

Abstract: Techniques for autonomous vehicle boundary intersection detection and avoidance are described. In an example, a geofence boundary is received at a display coupled to a control module of a vehicle. A 2D footprint is generated using a definition of the vehicle and an implement coupled to the vehicle. Using geographic coordinates for the vehicle, a current position and orientation for the footprint are determined. A 2D projection footprint is generated for the vehicle using the current position and orientation, a current steering state, and a direction of travel. A first distance from the current position and orientation at which the projection footprint intersects with the boundary is determined. Based on the first distance, the speed of the vehicle is maintained at or below a maximum speed.