Granted Patent B2

US 12,345,804 · App. 17/831,268 · Granted Jul 1, 2025

Inventor: Scott Bergen (New Canaan, CT)

Assignee: Deere & Company

G01S13/751B60W30/12G01S13/931B60W2420/408B60W2552/05B60W2552/53B60W2555/60G01S2013/9329

Abstract

Claims (31)

1. A system for vehicle lane position adjustment comprising:

a radar system positioned on a first vehicle, the radar system having a transmitter and a receiver, wherein the transmitter is configured to transmit radio waves and the receiver is configured to receive reflections of the radio waves, and wherein the radar system is configured to provide radar data indicative of the reflections; and

at least one controller positioned on the first vehicle, the at least one controller configured to

identify, based on the radar data, at least one radar marker positioned along a roadway, wherein each of the at least one marker is encoded with an identifier for identifying the at least one marker based on at least one physical characteristic thereof,

wherein for one or more of the at least one marker, the at least one physical characteristic thereof comprises an actuated element which is dynamically adjustable by an actuator to convey an encoded identifier,

decode the identifier based on the radar data and determine at least one location of the identified at least one radar marker, and

control a lane position of the first vehicle within a lane of the roadway based on the at least one location.

2. The system for vehicle lane position adjustment of claim 1 , wherein the at least one controller is configured to control the lane position of the first vehicle within the lane based on the determined at least one location such that the first vehicle is a predetermined distance from a reference point or line associated with the lane.

3. The system for vehicle lane position adjustment of claim 2 , wherein the reference point or line is along a lane boundary of the lane.

4. The system for vehicle lane position adjustment of claim 1 , wherein the at least one marker is encoded with information indicative of a condition associated with the roadway, and wherein the at least one controller is configured to decode the information based on the radar data and to adjust the lane position of the first vehicle within the lane of the roadway based on the information.

5. The system for vehicle lane position adjustment of claim 4 , wherein the condition is an upcoming traffic signal or an upcoming traffic intersection.

6. The system for vehicle lane position adjustment of claim 1 , wherein at least one location of the identified radar marker is at least partially determined from at least one of a range, azimuth, and elevation of the radar marker.

7. The system for vehicle lane position adjustment of claim 1 , wherein the at least one controller is configured to control the lane position of the first vehicle within the lane of the roadway based on the at least one location and a position of at least one other vehicle proximate the first vehicle.

8. The system for vehicle lane position adjustment of claim 7 , wherein the at least one other vehicle is in the same lane as the first vehicle.

9. The system for vehicle lane position adjustment of claim 7 , wherein the at least one other vehicle is in a lane adjacent to the lane of the first vehicle.

10. A method of adjusting vehicle lane position comprising:

receiving radar data from a radar system positioned on a first vehicle, the radar system having a transmitter and a receiver, wherein the transmitter transmits radio waves and the receiver receives reflections of the radio waves from at least one radar marker positioned along a roadway, and wherein the radar data is indicative of the reflections;

identifying, based on the radar data, each of the at least one radar marker positioned along a roadway at least in part by decoding respective encoded identifiers of the at least one radar marker based on at least one physical characteristic thereof;

wherein for one or more of the at least one marker, the at least one physical characteristic thereof comprises an actuated element which is dynamically adjustable by an actuator to convey an encoded identifier;

determining at least one location of the identified at least one radar marker; and

controlling a lane position of the first vehicle within a lane of the roadway based on the at least one location.

11. The method of claim 10 , wherein the lane position controlling is based on the determined at least one location such that the first vehicle is positioned a predetermined distance from a reference point or line associated with the lane.

12. The method of claim 11 , wherein the reference point or line is along a lane boundary of the lane.

13. The method of claim 10 , further comprising:

decoding, based on the radar data, encoded information of the at least one radar marker; and

controlling the lane position of the first vehicle within the lane of the roadway based on the information, wherein the information is indicative of a condition associated with the roadway.

14. The method of claim 13 , wherein the condition is an upcoming traffic signal or an upcoming traffic intersection.

15. The method of claim 10 , wherein the determining includes detecting at least one of a range, azimuth, and elevation of the radar marker.

16. The method of claim 10 , wherein the controlling is based on the at least one location and a position of at least one other vehicle proximate the first vehicle.

17. The method of claim 16 , wherein the at least one other vehicle is in the same lane as the first vehicle.

18. The method of claim 16 , wherein the at least one other vehicle is in a lane adjacent to the lane of the first vehicle.

Assignments (3)

Continuity (2)

References Cited (99)