Utility vehicle path following system, apparatus, and method

Abstract

A system for operating a utility vehicle, the system comprising a sensing system, a controller, including a computing device having a processor and a memory, the controller operatively coupled to the sensing system, wherein the controller receives a first sensing signal from the sensing system, where the first sensing signal comprises an image with an accumulation of a material generated by the work tool engaging the material while traveling along a first guidance path which creates a first area traversed, generates a second guidance path, by the controller, based on the first signal, where movement along the second path creates a second area traversed to overlap a portion of the first area traversed causing the work tool to interact with the accumulation of the material.

What is claimed is: 
     
         1 . A system for operating a utility vehicle, the system comprising:
 a work tool,   a sensing system;   a controller, including a computing device having a processor and a memory, the controller operatively coupled to the sensing system, wherein the controller
 receives a first sensing signal from the sensing system, where the first sensing signal comprises an image with an accumulation of a material generated by the work tool engaging the material while traveling along a first guidance path which creates a first area traversed; 
 generates a second guidance path, by the controller, based on the first signal, where movement along the second path creates a second area traversed to overlap a portion of the first area traversed causing the work tool to interact with the accumulation of the material. 
   
     
     
         2 . The system of  claim 1 , wherein the controller is further configured to guide, by the controller, a utility vehicle, along the second path using a path guidance system. 
     
     
         3 . The system of  claim 1 , wherein the work tool comprises a blade or a bucket. 
     
     
         4 . The system of  claim 1 , wherein the controller is further configured to display, on a display, information related to the second path. 
     
     
         5 . The system of  claim 1 , wherein the sensing system comprises one or more of a stereocamera, a radar, and a lidar. 
     
     
         6 . The system of  claim 1 , wherein the accumulation of the material comprises a linear pile of the material generated by a movement of the work tool during motion of a utility vehicle. 
     
     
         7 . The system of  claim 1 , wherein the work tool comprises a blade or a bucket. 
     
     
         8 . The system of  claim 1 , wherein the first guidance path is generated by an operator in close proximity of time to the second guidance path. 
     
     
         9 . The system of  claim 1 , wherein the first guidance path is generated by a path guidance system. 
     
     
         10 . The system of  claim 1 , wherein the controller is further configured to display, on a display, information related to the second path. 
     
     
         11 . The system of  claim 1 , wherein the controller is further configured to guide, by the controller, a utility vehicle, along the second path using a path guidance system. 
     
     
         12 . A utility vehicle including a path following system comprising:
 a sensing system coupled with the utility vehicle, where the sensing system monitors a surface near the utility vehicle;   a controller, including a computing device having a processor and a memory, the controller operatively coupled to the sensing system, where the controller
 receives a first sensing signal from the sensing system, where the first sensing signal comprises an image with an accumulation of a material generated by the work tool engaging the material while traveling along a first guidance path which creates a first area traversed; 
 generates a second guidance path, by the controller, based on the first signal, where movement along the second path causes a second area traversed to overlap a portion of the first area traversed causing the work tool to interact with the accumulation of the material. 
   
     
     
         13 . The utility vehicle of  claim 12 , wherein the controller is further configured to guide, by the controller, a utility vehicle, along the second path using a path guidance system. 
     
     
         14 . The utility vehicle of  claim 12 , wherein the controller is further configured to display, on a display, information related to the second path. 
     
     
         15 . The utility vehicle of  claim 12 , wherein the sensing system comprises one or more of a stereocamera, a radar, and a lidar. 
     
     
         16 . The utility vehicle of  claim 12 , wherein the accumulation of the material comprises a linear pile of the material generated by a movement of the work tool. 
     
     
         17 . The utility vehicle of  claim 12 , wherein the work tool comprises a blade or a bucket. 
     
     
         18 . A method of following a path, comprising:
 monitoring a surface by a sensing system,   receiving a first sensing signal from the sensing system, where the first sensing signal comprises an image with an accumulation of a material generated by the work tool engaging the material while traveling along a first guidance path which creates a first area traversed;   generating a second guidance path, by the controller, based on the first signal, where movement along the second path causes a second area traversed to overlap a portion of the first area traversed causing the work tool to interact with the accumulation of the material.   
     
     
         19 . The method of  claim 18 , further comprising
 displaying, on a display, information related to the second path.   
     
     
         20 . The method of  claim 18 , further comprising
 guiding, by the controller, a utility vehicle, along the second path using a path guidance system.