Filtered planning of path for a vehicle
Systems and methods for planning and filtering a path of a vehicle in a work area or field are described. An example system includes a user interface that supports a selection of a threshold value used to filter the path of the vehicle. The system also includes a data processor that receives the path that defines guidance lines and transitions between guidance lines and filters the path by deleting portions of the guidance lines that do not satisfy the threshold value. The guidance lines define movement of the vehicle though a work area or field. The system includes a guidance module that controls at least one motive function of the vehicle based on the filtered path.
1 . A system of filtering a path of a vehicle, the system comprising:
a user interface configured to support the selection of a threshold value used to filter the path of the vehicle;
a data processor configured to:
receive the path that defines guidance lines and transitions between guidance lines, the guidance lines defining movement of the vehicle though a work area or field;
filter the path by deleting portions of the guidance lines that do not satisfy the threshold value; and
a guidance module to control at least one motive function of the vehicle based on the filtered path;
wherein the threshold value is yield value, and wherein the data processor is further configured to:
receive a yield map that defines coordinate-based yields of the work area or field;
calculate yields for the guidance lines based on the yield map; and
delete the portions of the guidance lines where the yields are less than the yield value.
2 . The system of claim 1 , wherein the data processor is configured to prioritize deletion of the portions of the guidance lines based on a prioritization rule.
3 . The system of claim 1 , wherein the data processor is configured to recalculate the transitions between the guidance lines to account for the deleted portions.
4 . The system of claim 3 , wherein to recalculate the transitions between the guidance lines, the data processor is configured to treat portions of the work area or field that have a yield value below a yield threshold as not part of the work are or field.
5 . The system of claim 1 , wherein the user interface is configured to support the selection of a second threshold value used to filter the path of the vehicle, wherein the second threshold value is one of a threshold destruction percentage, and an operation level value.
6 . A method for filtering a path of a vehicle, the system comprising:
receiving, on a user interface on a display, a selection of a threshold value used to filter the path of the vehicle;
receiving, by a data processor, the path that defines guidance lines and transitions between guidance lines, the guidance lines defining movement of the vehicle though a work area or field;
filtering, by the data processor, the path by deleting portions of the guidance lines that do not satisfy the threshold value; and
controlling, by a guidance module, at least one motive function of the vehicle based on the filtered path;
wherein the threshold value is yield value, and wherein the method further comprises:
receiving, by the data processor, a yield map that defines coordinate-based yields of the work area or field;
calculating, by the data processor, yields for the guidance lines based on the yield map; and
deleting, by the data processor, the portions of the guidance lines where the yields are less than the yield value.
7 . The method of claim 6 , further comprising prioritizing deletion of the portions of the guidance lines based on a prioritization rule.
8 . The method of claim 6 , further comprising recalculating, by the data processor, the transitions between the guidance lines to account for the deleted portions.
9 . The method of claim 8 , wherein recalculating the transitions between the guidance lines further comprises treating portions of the work area or field that have a yield value below a yield threshold as not part of the work are or field.
10 . The method of claim 6 , wherein receiving the selection of the threshold value further comprises receiving the selection of a second value used to filter the path of the vehicle, wherein the second threshold value includes one of a threshold destruction percentage and an operation level value.