Predictive collision avoidance and management system

Abstract

A predictive collision avoidance system and application. The predictive collision avoidance system may evaluate a path plan to determine safety zones indicating potential collision risks prior to operations beginning. The safety zones may be included in a mission plan and correlated to a path plan for a machine. The machine may include a communication system to communicate with a fleet of machines in a project and monitor for safety zone information notices and provide safety zone notices. Each machine may be configured to alter operations based on certain location information and safety zone notices from another machine to avoid unnecessary collision risks or proximity conflicts.

Description

Predictive Collision Avoidance and Management SystemCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of priority from U.S. Provisional Application No. 63 / 539,905 filed on September 22, 2023, titled "Predictive Collision Avoidance System," and U.S. Provisional Application No. 63 / 669,480 filed on July 10, 2024, titled "Predictive Collision Avoidance and Management System," the entire contents of each of which are incorporated herein by reference.BACKGROUND

[0002] Autonomous machines within the off-highway or other off-road machinery spaces (e.g., agriculture, turf, construction, and mining) often involve a single machine working on a task autonomously or in a semi-autonomous manner with human oversight. In some cases, multiple autonomous machines are working on a single mission, but are constrained to work in a specified zone to prevent interference with other machines within the mission.

[0003] Machine automation systems (e.g., vehicle automation systems) use an onboard operations system to drive and manage the machine (e.g., the vehicle). The system may also include onboard sensors to identify potential obstacles and provide feedback for driving and operating the machine.

[0004] Some systems may include a safety system to stop or redirect machines that are within a set proximity or at risk of collision during operation. For example, U.S. Patent 11,300,976 discloses a system for automated vehicles traveling a travel route that exchanges positional information, which may include travel route elements, with other vehicles and calculates potential contact positions. The vehicles will determine which one is expected to arrive at the contact position first and the other vehicle will stop to let the earlier arriving vehicle to pass safely. Alternatively, one or both vehicles may cancel the selection of a travel route element leading to the estimated contact point.SUMMARY

[0005] Collision avoidance safety systems operating in real-time may result in project limitations, unnecessary delays, problematic detours, or an automated system lock situation.For example, if two machines are approaching each other on parallel work paths with overlapping implements, the collision system may identify the risk, but neither machine may proceed as planned without causing the collision. In some systems, this may cause a system lock for automated machines designed to stop to prevent collisions. A system lock may require human intervention at a remote location or potentially in the work zone to modify the operations and prevent collisions. Alternatively, the automated systems may revert to reversing course to move out of the other machine's path or conducting an avoidance maneuver that is potentially detrimental to the project, such as crossing a planted row to go around each other.

[0006] The present disclosure develops and uses advanced predictive information to avoid such situations during operations. The present disclosure integrates a collision prediction system into the mission planning and applies predictive information to allow each machine to manage operations well in advance of potential collisions. Such systems avoid collision prior to the machine's real-time collision avoidance system features identify the potential risk. The predictive collision system increases operational efficiency, reduces unnecessary delays or modifications, minimizes communication requirements, and reduces onboard computational system requirements for collision avoidance.

[0007] In some embodiments, the predictive collision avoidance system may operate over a networked ecosystem including a plurality of working machines with automated systems, such as machines designed for agricultural, construction, turf, and logistics projects. Embodiments of the networked ecosystem may also include a remote cloud management system, a control system for project requests and information sources. The remote cloud management system may receive communications from the working machines, the control system and information sources.

[0008] In some embodiments, the remote cloud management system includes storage to hold and manage machine information and missions. In some embodiments, the cloud management system includes a collection of fleet missions, which may be assigned or preliminary. In some embodiments, the collection may be stored in a database format.

[0009] In some embodiments, the cloud management system facilitates mission planning development. The cloud management system may receive a mission plan request framing a project for a mission plan to accomplish from a control system. The control system may include a dedicated user interface. In some embodiments, a remote user interface accesses the control system via a wireless network connection, such as a mobile phone application.

[0010] In some embodiments, framing the project for a mission plan may include identifying a project location, boundaries, available materials and machines, project goals, project constraints and other information. In some embodiments, the control system may be used to define a mission plan using information from the cloud management system.

[0011] In some embodiments, the mission planning system is within the remote cloud management system. In other embodiments, the mission planning system may be integrated in a control system or end-user system. Embodiments of the mission planning system may include a path planning system, a predictive collision avoidance system and other systems to define project instructions, boundaries, schedules, and controls.

[0012] In some embodiments, the path planning system will create path plans for each machine in a fleet for a project. The path plan for each machine may include the travel route and direction from a starting point through an end point for a project. In some embodiments, the path plan for each machine may be built on a point-filled site plan. The path planning system may account for characteristics of each machine and implements, if applicable, including working width, turn requirements, speed, and other characteristics.

[0013] In some embodiments, the predictive collision avoidance system (PCAS) will receive path plans for all fleet machines working on a project. In embodiments that only use a single machine, the PCAS may not be engaged by the mission planning system. In some embodiments, the PCAS may point fill a worksite plan including the path plans for the fleet. The PCAS may analyze one or more path plans to determine potential collision risks relevant to another machine's path plan. The PCAS may select a path plan for analysis and identify all potentially contemporaneous path plans for evaluation.

[0014] In some embodiments, the PCAS analysis may determine proximity between the selected path plan and other path plans for a project. The PCAS may identify points along the selected path plan within a threshold distance to any point on another path plan. In some embodiments, the PCAS analysis may use point spacing to determine proximity between path plans.

[0015] In some embodiments, the PCAS analysis may evaluate travel direction on the selected path plan and proximate sections of other path plans to determine whether two machines have counter-directional travel paths. Counter-directional travel paths may include any path direction that exceeds a threshold angle from the selected path's travel direction. In some embodiments,the counter-directional analysis will evaluate travel direction at multiple points on each path that are within the threshold proximity to the selected path plan.

[0016] Embodiments of the PCAS may generate risk or safety zones around the identified points within the threshold proximity and having counter-directional travel. The safety zones may extend along the selected path plan to a safety distance relative to the identified risk points. In some embodiments, the PCAS may provide each safety zone a reference identification.

[0017] Embodiments of the PCAS may repeat evaluations and generate safety zones for each path plan in a fleet project. In some embodiments, the PCAS may identify safety zones from different path plans with corresponding reference identities when they relate to the same potential risk event. In some embodiments, the PCAS may apply determined safety zones from a first analysis during an analysis of a second path plan and limit evaluation to potential risks with other path plans, which have not been evaluated.

[0018] In some embodiments, the PCAS may incorporate the safety zones into the selected path plans for the mission planning system. In other embodiments, the mission planning system may receive safety zones from the PCAS and compile the safety zones with path plans and other information for the mission plan.

[0019] Embodiments may include a plurality of working machines. Each working machine may include a controller to manage and direct operations of the working machine. The controller may be a system with a computer to process and drive control actuators throughout the working machine. In addition, the controller may receive feedback regarding operations through various operational sensors, such as onboard perception systems, proximity sensors, location systems, working load sensors and other sensor systems to collect operational information in real-time.

[0020] Each working machine may also include a communication device configured to provide communication. In some embodiments, the communication device may be configured to transmit status information of the working machine and receive a set of machine instructions. In some embodiments, each working machine may send notice information relating to location, heading or actions for other machines to receive directly. In some embodiments, certain machine information may be broadcast by a machine. The communication system may receive communications including broadcast information about other machines. In some embodiments,the communication system for a fleet may send and receive notice information about each machine through a common communication hub, such as a cloud management system.

[0021] In some embodiments, each machine may include a collision avoidance system to detect and respond to real-time collision risks. The collision avoidance system may be integrated with the controller or a separate processing system. In some embodiments, the collision avoidance system analyzes sensor feedback, communications and other information to determine if a risk is identified within one or more safety bubbles associated with the machine. In some embodiments, the safety bubbles' design and operation may be based on perception sensors, location systems and / or other information. Some embodiments may include multiple safety bubbles, such as a close proximity safety bubble and a leading safety bubble that tracks the planned path ahead of the machine. In some embodiments, each machine may use onboard collision avoidance systems with safety bubbles and advanced safety zones provided through a PCAS.

[0022] In some embodiments, a fleet of working machines may each receive a mission plan including a path plan with safety zones identified by a mission planning system's PCAS. Each working machine may execute the mission plan for that machine. During operation, the machine's controller may follow the path plan for the mission plan while receiving location information through one or more location systems. In some embodiments, the working machine will send a zone entry notice to one or more other machines when approaching or entering a safety zone identified by a PCAS system. The notice may identify the specific safety zone entered. Upon leaving the safety zone, the working machine may send a zone exit notice.

[0023] Embodiments of a machine may also be configured to receive communications from other machines regarding location information, route information and notices. In some embodiments, if a first machine receives a zone entry notice from another machine, the first machine will temporarily stop prior to entering the zone until receiving a zone exit notice from the other machine.

[0024] In some embodiments, each working machine in a fleet will broadcast low-byte size notification updates to confirm system operation and provide zone entry and exit indications. The remaining fleet machines may confirm the operational presence of each other machine through the broadcast notices. In some embodiments, if a working machine is not broadcasting the other working machines may alter operations to increase safety protocols relating to the other machine.

[0025] In some embodiments, the PCAS may further assign a risk potential associated with the path plan evaluations. The mission planning system may evaluate risk potential and modify plan considerations to reduce risk. In some embodiments, the mission planning system may cause the path planning system to generate an alternative path plan for evaluation by the PCAS to determine if a reduced risk potential may be achieved.

[0026] In some embodiments, the mission planning system may incorporate additional trigger notification zones separate from or with safety zones from the PCAS. The trigger notification zones may be configured to facilitate synchronization, prioritization, and other features. Trigger notification zones may include a pause location for one machine to pause until receiving a trigger notice and a trigger location for another machine, which will initiate the trigger notice. In some embodiments, the trigger location may be associated with multiple pause locations for other machines. In some embodiments, a pause location may be associated with multiple trigger locations, wherein the machine in the pause location will wait for the associated trigger notices from each associated location. In some embodiments, the system may incorporate a trigger system based on alternative information to location, such as a machine status, tank volume or other information.BRIEF DESCRIPTION OF DRAWINGS

[0027] Embodiments will now be described, by way of example only, with references to the accompanying drawings in which:

[0028] FIG. 1 is an embodiment of a system diagram;

[0029] FIG. 2 is an embodiment of a dynamic project map diagram;

[0030]

[0031] FIG. 3 is an embodiment of a system operation flowchart for mission planning;

[0032] FIG. 4 is an embodiment of a system operation flowchart for predictive collision avoidance planning;

[0033] FIG. 5 is an embodiment of a working machine operation flowchart for predictive collision avoidance;

[0034] FIG. 6 is another embodiment of a dynamic project map diagram;

[0035] FIG. 7 is an embodiment of a first path plan diagram with a working width for a first machine;

[0036] FIG. 8 is an embodiment of a second path plan diagram with a working width for a second machine;

[0037] FIG. 9 is an embodiment of a combined path plan diagram for the first machine and the second machine;

[0038] FIG. 10 is an embodiment of a path overlap diagram;

[0039] FIG. 11 is an embodiment of a first partial overlap diagram showing overlaps with direction differences within a threshold;

[0040] FIG. 12 is an embodiment of a second partial overlap diagram showing overlaps with direction differences exceeding the threshold;

[0041] FIG. 13 is an embodiment of a path occupant zone diagram;

[0042] FIG. 14 is an embodiment of a combined path plan and occupant zone diagram;

[0043] FIG. 15 is another embodiment of a dynamic project map diagram;

[0044] FIG. 16A is an embodiment depicting a working machine at rest with safety zones;

[0045] FIG. 16B is an embodiment depicting a working machine moving forward with safety zones;

[0046] FIG. 16C is an embodiment depicting a working machine moving backward with safety zones; and

[0047] FIG. 17 is an embodiment of a working machine operation flowchart for safety zone management.DETAI LED DESCRIPTION

[0048] While this invention may be embodied in many different forms, there will herein be described in detail preferred embodiments of the invention with the understanding that the present disclosure is to be considered as an exemplification of the principles of the invention and is not intended to limit the broad aspects of the invention to the embodiments illustrated. It will be understood that the invention may be embodied in other specific forms without departing from the spirit or central characteristics thereof. The present embodiments, therefore, are to be considered in all respects as illustrative and not restrictive, and the invention is not to be limited to the details given herein.

[0049] Figure 1 illustrates an embodiment of a system using a cloud system 102 to manage working machines 126 and 128. In this embodiment, the cloud system 102 includes a cloud management system 104, a mission planning system 106, a machine information storage 108and a mission storage 110. This embodiment shows the mission planning system 106 including a path planning system 112 and a predictive collision avoidance system (PCAS) 114. In some embodiments, the mission planning system 106 may include additional subsystems to manage development of one or more features of the mission plan. For example, some embodiments may include machine information analysis systems, program analysis systems, or other system components. In some embodiments, cloud system 102 may provide real-time or near real-time remote management instructions or information.

[0050] In some embodiments, these system components may be discrete components within the cloud system 102 or one or more dedicated servers. In other embodiments, the system components may be integrated. In some embodiments, certain component systems are maintained inside the mission planning system 106, while other system components are operatively connected to provide a service to the mission planning system 106 over a wireless connection, a wired network connection or direct wired connection, such as over a bus interface.

[0051] The machine information storage 108 and the mission storage 110 may be any type of electronic storage structure or memory device. In addition, the machine profiles, data, reusable digital assets, operational assets and other information stored in the machine information storage 108 and the mission storage 110 may be stored within the memory structure in a variety of formats, such as a database, an indexed file system or other format.

[0052] The mission planning system 106 may access or receive information from the machine information storage 108 and the mission storage 110. In some embodiments, the mission planning system 106 may also send information to the machine information storage 108 or the mission storage 110. For example, finalized mission plans or portions thereof may be sent to the mission storage 110 for later evaluation or use.

[0053] In some embodiments, the machine information storage 108 maintains machine profiles for a plurality of working machines. The machine profiles for each machine may include detailed identification information, operational information, and other machine-specific characteristics, which operate as a configuration or information file for the machine. The identification information may include the machine's make and model data, serial number, owner, or user information, and / or other identifying information.

[0054] The operational information may include various machine operation information and capabilities, such as speed, torque, turn radius, size, PTO drive speed, sensor arrays, automationkits and control information, collision avoidance features, and other information. Additional information may include operation information for the machine-specific tools, such as tool load type, movement range, lift loads, reach, operational speed ranges, interactive limitations, and other information. For machines that may use a variety of optional implements, the relevant corresponding information for each optional implement may also be stored. In some embodiments, the base information for the machine may be stored with information from each optional implement to account for any changes to the machine operational information caused by connection to one implement or another. In some embodiments, the optional implements will include adjustment information that may be used during the analysis to update the machine operational information based on the connected implement.

[0055] The machine information storage 108 may also include operational history of the machine, information regarding known wear and tear or damage to the machine or specific components, scheduling information or other information regarding the use or maintenance needs of the specific machine. The machine information may include additional information about the current status of the machine, such as location, battery or fuel levels, currently attached accessories, and other status information. In some embodiments, the types of information may be stored as separate records for independent access and analysis. The machine information may store telematic and usage records, which indicate historical operations, usage data and logs, and current status information.

[0056] The mission storage 110 may include mission information, such as pending or completed mission plans. In some embodiments, the mission storage 110 may also include mission requests that have not been processed. The mission storage 110 may include mission feedback information, which may be evaluated and used for further mission planning or training mission planning systems.

[0057] In this embodiment, the machine information storage 108 may receive data from the cloud management system 104 based on information from a machine data source 120.Embodiments of the system may include any number of machine data sources 120. The machine data source 120 may include external user interfaces, such as phones, computers, server systems, tablets, and other devices, used by manufacturers, mechanics, machine users, aftermarket suppliers and other sources. In addition, machine information storage 108 may receive information from working machines 126 and 128 directly. In some embodiments, the machine data source 120 may be the operator of the cloud structure system 102.

[0058] In some embodiments, each of the working machines 126 and 128 may generate machine-specific mission plans. The mission plans may be generated based on an area and operation information for the project assigned to the machine, which may be received from the cloud management system 104. Each of the working machines 126 and 128 may send its mission plan to the cloud management system 104 for evaluation by the PCAS 114. In some embodiments, these preliminary machine-specific mission plans may be stored in the mission storage 110.

[0059] The mission storage 110 may receive information from the project request source 124 and mission planning system 106. In this embodiment, the cloud management system 104 facilitates the distribution of information from the project request source 124 and any additional feedback from working machines 126 and 128 to the mission storage 110.

[0060] In this embodiment, a single project request source 124 is identified. In other embodiments, a system may have multiple project request sources 124. The project request source 124 may be external user interfaces, such as phones, computers, server systems, tablets and other devices, used by any machine user or entity. In some embodiments the project request source 124 may be the operator of the cloud structure system 102. The cloud management system 104 may receive requests from the project request source 124 and direct the request to the appropriate mission planning system 106.

[0061] In some embodiments the mission planning system 106 or the cloud management system 104 may translate a project request into a standard format for the mission planning system 106 to parse and analyze. For example, the project request received from the project request source 124 may be a natural language request from the project manager, such as a request received in an audio format. The cloud management system 104 may convert the audio to text and identify the project definitions. In some embodiments, the cloud management system 104 may only convert the applicable key words for the project.

[0062] The mission planning system 106 may analyze the project request and evaluate the project definitions and goals to identify machine selection criteria (such as machine capabilities, locations, ownership limitations, scheduling availability, etc.), other fleet requirements, project operational areas, project timelines and other constraints, project goals and other project information.

[0063] In some embodiments, the project request may identify one or more machines that will be used on the project. In such embodiments, the cloud management system 104 may send aquery to the machine information storage 108 to obtain machine profiles and status information for the specified machines. The cloud management system 104 may include the machine information with the project request that is sent to the mission planning system 106.

[0064] In other embodiments, the mission planning system 106 may access machine information storage 108 to review machine profiles and identify machines that fit a project request. In some embodiments, the mission planning system 106 may send a query to the machine information storage 108 requesting machine profiles that meet a requirement of the project. For example, if the project requires machines located around a specific area the machine planning system 106 will send a query to the machine information storage 108 requesting all machines that are within a certain radius of the project area. In some embodiments, receiving a select group of the machine profiles increases the efficiency in the processing analysis to identify which machines are appropriate for the project and reduce processing requirements for the machine information storage 108 to allow other parallel requests without overburdening machine information storage 108's processor.

[0065] In some embodiments, the mission planning system 106 may receive machine criteria requirements, location information and other information from the cloud management system 104's project request analysis. The mission planning system 106 may use the machine criteria requirements during the analysis of the machine profiles to identify preferred machines for a project. In some embodiments, the mission planning system 106 will identify the preferred machines based in part upon planning efficiency, a location or other project feature. For example, if multiple options exist for the capabilities necessary to complete a project, the mission planning system 106 may determine which machines are compatible with project efficiency features, such as similar speeds, sizing or other feature that reduces planning variables thereby increasing planning and operational efficiency.

[0066] In some embodiments, the mission planning system 106 operates on the same structure, such as a server, with the machine information storage 108 and mission storage 110. Within cloud structure 102, the mission planning system 106 may be connected to the machine information storage 108 or the mission storage 110 over one or more communication systems depending on the underlying server array structure. For example, the mission planning system 106 may be implemented on a first server, using a processor and program memory connected via a wired bus. When evaluating machine information, the mission planning system 106 mayuse a first server communication card to access the Internet or other network in connection with the machine information storage 108.

[0067] In some embodiments, the processing operations may also be shared among multiple processors or separate computers to speed the evaluation through parallel processing operations. For example, the mission planning system 106 may assign separate computers to parallel process two distinct project requests. As another example, the PCAS 114 may run on an independent server or processing system from the path planning system 112.

[0068] The path planning system 112 may be integrated with the mission planning system 106 in some embodiments. The path planning system 112 may develop a route or path plan for a machine to follow during the overall mission plan. The path plan may account for site geometry, site hard and soft boundaries, swath directions, machine operating and actual widths, machine turn options and capabilities, and other characteristics. In fleet planning, the path planning system 112 may also account for the machine operations and characteristics for all machines in the fleet and identify distinct plans for each machine. The mission planning system 106 may incorporate operational activities into the path plan, such as activity triggers for the project. For example, the mission planning system 106 may identify the soft boundary as a trigger for when to start and stop an action like mowing or spraying. In some embodiments, the soft boundary may identify a headland space for machine maneuvering within the hard boundary, such as a property line or physical impediment.

[0069] In some embodiments, the path planning system 112 may operate as a service or module within the mission planning system 106 or in communication with the mission planning system 106. The path planning system 112 may receive a route request from the mission planning system 106 to develop a path plan for a machine to follow during the overall mission plan. The route request may include information needed for the path planning system 112 to generate a path plan. In some embodiments, the path planning system 112 may also receive information from the machine information storage 108 or mission storage 110 to further guide the path plan. For example, the mission planning system 106 may send a route request with a project site including boundaries, project operations and machine identifications. The path planning system 112 may evaluate the route request information and request specific machine information from the machine information storage 108 to learn the specific machine characteristics for the path plan.

[0070] Some embodiments of the mission planning system 106 may integrate the PCAS 114.The PCAS 114 may predict risk areas and generate safety zones for a machine to use during the overall mission plan. In some embodiments, safety zones referred to herein may be referred to based on operation in some embodiments, such as limited-entry zones, keep-out zones, singleentry zones, occupancy lock zones, etc. Those skilled in the art will recognize that safety zones include any zone configured to provide safe operation management. In some embodiments, the path planning system 112 and the PCAS 114 are integrated together and may be integrated with the mission planning system 106. The PCAS 114 may receive a path plan and machine characteristics for each machine assigned to a project. The PCAS 114 may evaluate the path plan and machine characteristics to identify potential areas of risk for collisions. The PCAS 114 may use machine operating widths to determine a safety spacing and define proximity evaluations based on the safety spacing. In some embodiments, the PCAS 114 may also account for any speed differences between machines to determine the nature of potential risk circumstances.

[0071] In some embodiments, the PCAS 114 may operate as a service or module within the mission planning system 106 or in communication with the mission planning system 106. The PCAS 114 may receive a collision risk request from the mission planning system 106 to develop predictive safety zones for a machine to use during the overall mission plan. The collision risk request may include information needed for the PCAS 114 to generate safety zones. In some embodiments, the PCAS 114 may also receive information from the machine information storage 108 or mission storage 110 to further guide the collision risk prediction analysis. For example, the mission planning system 106 may send a collision risk request with a path plan and machine identifications. The PCAS 114 may evaluate the collision risk request information and request specific machine information from the machine information storage 108 to learn the specific machine characteristics for the collision risk prediction analysis.

[0072] The mission planning system 106 may compile path plans with safety zones with operational controls, triggers, and instructions for the automation system to implement the mission plan. The mission planning system 106 may create or retrieve necessary scripting to achieve the project and tie together the various activity scripts needed for each operation. If multiple machines are involved, the mission planning system 106 will create individual plans for each selected machine that are compiled to form a complete mission plan for the project. The mission planning system 106 may then issue the mission plan to each working machine 126 and 128. The mission plan communication may be sent using a communication system network cardover one or more communication channels to the communication modules and electronic control units on each working machine 126 and 128.

[0073] Working machines 126 and 128 may be any number of working machines. In addition, working machine 126 and working machine 128 may be the same type of machine. For example, working machines 126 and 128 may both be tractors with mowers that are assigned to a common field to share the responsibility of mowing the entire field. In other embodiments, working machine 126 may be a distinct type of machine from working machine 128. For example, working machine 126 may be a forklift designed to move loads around at a worksite and working machine 128 may be a crane at the worksite designed to lift certain loads up to the higher levels of a building under construction.

[0074] Figure 2 illustrates a dynamic project map diagram, which reflects evaluation of a path plan and generation of safety zones by a PCAS. The project site 202 includes an illustration of the path plans 206 and 208 for two machines 222 and 224 to conduct a project on site 202. For example, the project may require the two machines 222 and 224 to mow the project site 202. Each machine 222 and 224 may include a mower implement. In some embodiments, the machines 222 and 224 may be the same type of machine and implement combination, which will have common size, turning radius and speed considerations. In other embodiments, the machines 222 and 224 may have distinct features for consideration during the evaluation. In this illustration, the size considerations are consistent, which corresponds to the common swath spacing for each path plan.

[0075] This project site 202 includes a staging area 204 for a first working machine 222, which is the location for the first machine 222 to start and end its mission plan. The first machine 222 begins in this staging area 204 and follows the path plan 206. The path plan 206 follows swaths from the right side to around the middle of the site 202 and ends in the staging area 204 in this figure. The second machine 224 follows swaths from around the middle of the site 202 to the left side and then proceeds to make a pass along the headland around the entire field of site 202. The direction of travel for both machines 222 and 224 is laid out in the path plans 206 and 208.

[0076] This project map further includes labeled safety zones 210, 212, 214, 216, 218 and 220.Additional safety zones may be identified by the PCAS analysis and are not labeled in this figure. These safety zones 210, 212, 214, 216, 218 and 220 represent areas of risk for collision based on an analysis of the path plans 206 and 208 by a PCAS.

[0077] In the embodiment shown, the PCAS has evaluated the risk from the perspective of the path plan 208 for the second machine 224. As such each of the safety zones 210, 212, 214, 216, 218 and 220 is associated with a portion of the path plan 208 and corresponding areas of path plan 206. In this example, the PCAS evaluation was configured to determine proximity risks as any point on path plan 208 that was within a set distance of path plan 206. The PCAS may also determine which, if any, proximity risks are associated with counter-directional travel, wherein the path plan 206 indicates a travel direction that is not the same as path plan 208. The PCAS then generates the applicable safety zones 210, 212, 214, 216, 218 and 220 to provide safety zones for the mission plan. In this embodiment, the safety zones 210, 212, 214, 216, 218 and 220 operate as limited entry zones.

[0078] In this embodiment, the safety zones 210, 212, 214, 216, 218 and 220 are configured to provide a safe distance between operating machines that are outside of the safety zone 210, 212, 214, 216, 218 and 220. This example shows offset safety zones 210, 212, 214, 216, 218 and 220 with the safety distance to the left of the path representing less of the overall width of the safety zones 210, 212, 214, 216, 218 and 220 and the area to the right representing more of the overall width. In some embodiments, the ratio of coverage on each side may be set. For example, the side closest to another machine's path plan may have 75% coverage while the opposite side has 25% coverage. In some embodiments, the coverage ratio is based on machine characteristics, such as operational widths.

[0079] Following the path plan 208, the initial safety zone 212 is indicated from the start through the first swath pass on path plan 208. This safety zone 212 is identified because the final swath pass in path plan 206 passes adjacent to the first pass of path plan 208 within a proximity threshold and the two machines 222 and 224 will be travelling counter-directionally. In the embodiment shown, the safety zone 212 is rectangular following the primary swath direction and extends to cover the relevant turn in the path for the second machine 224 to clear the zone 212. In some embodiments, the end of the safety zone 212 may include a curved section that tracks the turn of the second machine 224 until it is no longer traveling counterdirectional to the path plan 206 or is out of the proximity.

[0080] As shown on the path plan 208, the second machine 224 may continue through the swaths and begin the headland pass without a predicted risk of collision based on any other path plan. The next safety zone 210 occurs when the top headland pass near the middle of the site 202 becomes proximate to the turning portions of path 206. In this case, because the turnsare counter-directional to the travel direction for path plan 208, the PCAS identifies the safety zone 210 as a potential risk. In this example, the safety zone 210 extends nearly the remainder of the headland pass. In some embodiments, the safety zone 210 may be broken into multiple smaller overlapping safety zones associated with each turn from the path plan 206.

[0081] The path plan 208 reaches safety zone 214 after the headland pass turn. This safety zone 214 is identified because the first swath pass in path plan 206 passes adjacent to the right section of the headland pass of path plan 208 within a proximity threshold and the two machines 222 and 224 will be travelling counter-directionally.

[0082] After turning to the bottom of the headland pass, this embodiment includes a series of safety zones 218 and 220. At the bottom turns of the swath passes in path plan 206, the first machine 222 encounters the safety zones 218 followed by safety zones 220. These safety zones 218 and 220 are identified because the approach of each swath pass toward the bottom turn is perpendicular to the bottom headland pass of the path plan 208. The end of the pass enters within a proximity threshold and the perpendicular travel meets counter-directional threshold angles. In the illustrated example, the safety zones 218 and 220 are limited to the entry of the first turn because once the first machine 222 turns, the first machine 222 is traveling in the same direction of travel. These safety zones 218 and 220 are configured to ensure that both machines 222 and 224 are staggered if they approach the corner simultaneously. After the first machine 222 turns, the second machine 224 may follow co-directionally without a risk of lockout. In some embodiments, the vehicle's collision avoidance system will be relied on to ensure the machine that enters the area second does not pass the leading machine to cause a collision.

[0083] In some embodiments, the bottom of the headland pass may not include safety zones adjacent to turns in the path plan 206 based on the proximate points being associated with the same direction of travel. In such embodiments, the vehicle's collision avoidance system may be relied on to ensure the machine that enters the area second does not pass the leading machine to cause a collision. This is a safer circumstance that does not need advance prediction because the common direction of travel will prevent a lock situation where neither machine may proceed as planned.

[0084] In some embodiments, the PCAS may be configured to identify aligned direction zones. These may be distinguished from the counter-directional safety zones. The aligned direction zones may allow co-entry of a zone while instigating speed matching and distance monitoringbetween vehicles. This may increase efficiency and reduce processing requirements associated with a perception-based collision avoidance application engaging. It may also allow the first machine 222's collision avoidance system to recognize and dismiss certain warnings associated with the second machine 224 that is already in communication based on the PCAS aligned direction zones. In such a system, a co-directional zone may be identified behind each safety zone 218 and 220 until the path plan 206 guides the first machine 222 away.

[0085] In this embodiment, the PCAS also identifies the safety zone 216 because the egress path to the staging area 204 in path plan 206 passes through the bottom of the headland pass of path plan 208 within a proximity threshold and the two machines 222 and 224 will be travelling counter-directionally. In this embodiment, the safety zones 216 and 220 overlap along the headland pass of path plan 208 and the path plan 206's swath turns and exit path. The PCAS may identify the overlapping safety zones and identify management rules for the machines 222 and 224 to prevent conflicting instructions. For example, the PCAS may indicate active swaths for one or more path plans 206 and 208, which are associated with each safety zone 216 and 220. This swath information may be used by each machine to determine which safety zone 216 or 220 is applicable to the notice.

[0086] In the illustrated embodiment, the swath information for the first machine 222 is relevant to the determination while the second machine 224 will be on the bottom headland pass either way. If the second machine 224 reaches the safety zone 216 prior to the first machine 222 reaching one of the safety zones 220 or 216, the first machine will determine which swath it is actively following and operate according to the associated safety zone for that swath. For example, if the first machine 222 is approaching a swath turn, the first machine 222 will operate according to the rules for the safety zones 220. Alternatively, if the first machine 222 is approaching the exit path, the first machine 222 will follow the operations for safety zone 216. In the event that the first machine 222 enters one of the safety zones 216 or 220 first, the first machine 222 may send additional information for the second machine 224 to properly follow operation instructions for the relevant safety zones 216 and 220.

[0087] In some embodiments, the PCAS may evaluate the risk from the perspective of the path plan 206 for the first machine 222. In some embodiments, the PCAS may be configured to consolidate perspective analysis to ensure all potential risks are identified and accounted for by safety zones.

[0088] In addition, the PCAS may evaluate efficiencies for each potential safety zone configuration based on alternate path perspectives. For example, evaluating the path plan 206 may show a series of safety zones that are separate but repeated across the top turns while the safety zone 210 illustrates a single safety zone based on the path plan 208 in the headland pass. The series of safety zones may allow the machines 222 and 224 to move closer to the actual risk location than the single safety zone 210. For example, if the first machine 222 enters safety zone 210 at the first pass turn when the second machine 224 is about to reach the safety zone 210, the second machine 224 may stop outside the zone based on limited entry safety instructions despite the potential risk still a significant distance away. In contrast, a series of smaller safety zones may allow the second machine 224 to proceed across the headland pass through untriggered safety zones until it approaches the specific triggered safety zone from the series of safety zones. In the example above, it is possible that the first machine 222 will exit the specific safety zone before the second machine 224 reaches that same safety zone.

[0089] In some embodiments, the PCAS options may be configured by user settings or preferences. For example, the user may select safety zone size limits, efficiency goals, safety margins, and other settings for the PCAS evaluation. In addition, the PCAS may include setting modifications based on fleet information, machine capabilities, any known non-automated participants, and other features of the project that may impact guidance.

[0090] Figure 3 provides a flowchart for developing a mission plan using predictive collision avoidance analysis. In box 302, the system receives a project request including project parameters. The mission planning system may receive the request directly in some embodiments. In other embodiments, the project request may come through other systems before reaching a mission planning system, such as a project management system or a cloud management system. The project request may be initiated by a project manager, field or equipment owner, an authorized user or other person. In some embodiments, the project request may be initiated through a computer system, which may have a calendared set of projects or an automation system to identify when to run certain projects.

[0091] In box 304, the project request is analyzed by the system to determine a site plan, working machines and activities for the project. This analysis may occur within a mission planning system or another system in preparation for mission planning. The analysis may break down the request into applicable categories of information for the mission planning process. For example, a request for spraying a field for hay may be broken down into field identificationinformation, identified tractor and implement, staging availability and other information. The information may be further broken down based on known information in the system about the site, machines or parameters from the project request. For example, the system may include a machine profile that corresponds to an identified tractor and field details (e.g., entry locations, hard boundaries, topography, dimensions, etc.) corresponding to the identified field.

[0092] In addition to the identified work in a project request, necessary operations may include acquiring proper implements, transitions to staging areas, loading fuel or product, or other ancillary operations needed to prepare for a project. In addition, the system may identify steps or needs for the project that a human may assist. For example, a machine may be in transit from a distant location on a truck or other delivery vehicle. As another example, a machine may require pre-operation maintenance.

[0093] In box 306, the system generates a preliminary path plan for each machine for the project. In some embodiments, the mission planning system includes a path planning component, which receives and evaluates site information, machine information and project information to determine a path plan for each machine in a project. The path plans for a project collectively facilitate the complete project.

[0094] As an example, the path planning system may evaluate the site plan to identify one or more starting points based on entry locations or staging areas through which the machines will be able to enter and exit the site. From the starting point or points, the path planning system may section portions of the site for operations by distinct machines. The sections may be identified for a variety of reasons including fuel management, machine coverage speed, terrain requirements, swath orientation, or other reasons. The path planning system may then prepare a path within the section to conduct the project according to requirements. For example, the path plan may spiral inward for a mowing project to cover the section. In another example, the path plan may be a serpentine series of swaths for a fertilizing sprayer. In each case, the spacing between passes may be determined by the path planning system using the machine operational width to ensure proper coverage to complete the project. In some embodiments, the path plans for distinct machines and site sections may use different path swath spacing based on the machine assigned to that section. In such embodiments, the path plan for the project will account for spacing discrepancies at the edges of sections to ensure proper coverage.

[0095] In some embodiments, the path planning for a project may include contemporaneous actions by a fleet of machines. For instance, a fleet of mowers or sprayers in the examples above may operate in the site contemporaneously.

[0096] In some embodiments, the project may involve non-contemporaneous activities or activities that overlap the same areas. The path planning system will section the site for the machines conducting contemporaneous actions and resection for machines conducting subsequent actions. For example, if the project requires raking and bailing a field, the path planning system will section the field based on the number of machines configured to rake and prepare path plans for those machines. Separately, the path planning system will resection the field for the number of bailing machines. The path planning system will recognize for this example that the bailing machines must follow the path created by the raking operations to properly collect the raked product. In some embodiments, the bailing machines may be staged and configured to wait until all raking machines active in the section of the site assigned to that bailing machine have completed their operations. In other embodiments, the bailing machines may have a delayed start, but may begin while the raking machines are active. This situation would require all potentially contemporaneous path plans to be evaluated for potential risks.

[0097] In box 308, the system conducts collision avoidance analysis to determine potential areas of risk in the preliminary path plans. The system may include a PCAS or send a request to a service that provides predictive collision avoidance safety zones. The PCAS may receive the path plans and any timing constraints from the mission planning system, path planning system or other source. In addition, the PCAS may use machine information to determine proximity distances and safety zone sizing. The PCAS may evaluate a path plan to determine predictive safety zones indicating potential risks for collision with machines on other path plans. The safety zones are assigned to sections of the evaluated path plan and notice triggers associated with the safety zones may be generated for relevant other path plans associated with the potential risk. In some embodiments, the PCAS conducts the analysis to determine predictive safety zones for each path plan received. Examples of safety zones are provided in figure 2.

[0098] In some embodiments, all potential safety zones are identified based on proximity and direction. In other embodiments, additional information may be considered to further tailor safety zone identification and risk assessment factors. For example, the PCAS may use machine information to evaluate machine travel characteristics for the project selected, including machine speed for different portions of the path plan or anticipated timing along the route. ThePCAS may use route timing to provide increased predictability during machine operation. In such circumstances, the safety zones may be correlated to a higher risk rating at points on the path plan that are proximate, counter-directional and proximate to the same route timing. The PCAS route timing may be adjusted in the field through each machine communicating an actual start time and the onboard controller applying a start time differential for each safety zone to shift the timing relative to other machines. Each machine would then have an anticipated safety zone for the potential interaction. Each machine may focus predictive risks on likely risks from the moment the second machine to start becomes active.

[0099] As an illustration using figure 2, a primary machine proceeding on route 208 may determine that safety zones 212 and 214 are not likely risks if the primary machine and a secondary machine on route 206 start at the same time. As such, these safety zones may carry a lower weight and the primary and secondary machine may communicate less often around these safety zones 212 and 214. Safety zone 210 may carry a higher likelihood of potential interaction, especially if the primary machine is faster than the secondary machine. In such embodiments, safety zone 210 may carry a higher risk and the machines may increase communication leading up to safety zone.

[0100] In some embodiments, PCAS may indicate safe travel conditions using the safety zone notices. For example, if the primary machine enters safety zone 214, the secondary machine may stop sending notices relating to safety zones 210 and 212, which no longer carry a lockout risk. This may also account for route timing considerations based on machine operation speeds.

[0101] In some embodiments, the system will confirm path planning selection by a user. Box 310 is an optional step that provides for sending the preliminary path plan with the risk areas to a user interface. The system may include the user interface directly or communicate with a device or system component having a user interface over a wireless and / or wired communication system. The user interface may be any system that allows a user to review the path plan and provide a response. For example, the user interface may be a phone, computer, server system, tablet, and other devices. An authorized user or administrator may review the path plan and risk areas to determine if the selection is acceptable for the project. This plan may also include staging, fueling and other information related to the initial set-up requirements for automation to commence.

[0102] In some embodiments, the user interface may allow user modifications or additions to the path plan and safety zones. For example, a user may know that one or more machines mayhave challenges for certain sections of the field due to terrain and conditions. The user may increase safety zones around the challenging areas to account for potential challenges. Similarly, the user may set additional trigger zones to prevent multiple machines in certain types of terrain at the same time, even if the areas are separated and do not create a collision risk. The PCAS may limit the types of modifications and changes to ensure safety is not compromised. For example, the user may not be permitted to eliminate a safety zone at an intersection for two distinct path plans.

[0103] In optional box 312, the system receives a path plan confirmation from the user interface. For example, the authorized project manager may select a confirmation button on their mobile phone after reviewing the path plan and safety zones. The confirmation button may initiate a communication to the mission planning system that confirms the path plan is accepted. In some embodiments, the user may be able to provide a negative response denying confirmation. In such embodiments, the system application may request feedback from the user indicating the problem or concern, and requesting additional information that may benefit a replanning process. For example, if the user denies a path plan because the path plan did not account for product planting rows, the user may state the problem and provide row information for the path planning system to rebuild a path plan.

[0104] In some embodiments, the mission planning system may iteratively develop a mission plan with input from PCAS evaluations to reduce safety zone impact on overall project performance. For example, the mission planning system may identify an initial set of path plans for a fleet of machines for a project through a path planning system. The PCAS may evaluate the initial set of path plans and identify applicable safety zones. In some embodiments, the PCAS may identify predicted delays associated with the safety zones. In addition, the PCAS may identify anticipated safety zones for interaction based on similar initiation timing. The PCAS may use the anticipated safety zones and predicted delays to estimate an overall effect on the project timing. Those skilled in the art will recognize that such additional evaluations may be conducted in other system sections or evaluation systems in some embodiments. For example, a mission planning system may evaluate the safety zones provided by the PCAS.

[0105] In some embodiments, the mission planning system may review the safety zones and potential effect on project timing. The mission planning system or path planning system may develop an alternative set of path plans for the fleet. The mission planning system may use the safety zone information to guide the development of a second set of path plans with the goal ofdeveloping a better fleet plan. The mission planning system may receive plan preferences from a user to provide context for improvement. For example, one user may prefer overall fuel or product efficiency while another user may prefer specific orientation structures while, yet another user may prefer project time. The mission planning system may tailor the evaluation to improve along any goal identified or a combination of goals. The evaluation process may continue with further iterative path planning and PCAS evaluations to determine a preferred option.

[0106] In some embodiments, this feature of iterative path planning and PCAS evaluations may be replaced with a group evaluation process. For example, the mission planning or path planning system may provide an initial fleet path plan and one or more alternate fleet path plans. The PCAS may evaluate all the fleet path plans received and provide safety zones and impact information for each fleet path plan to facilitate selection of a preferred path plan.

[0107] In some embodiments, the mission planning system or PCAS may assign a plan rating. The plan rating may be based on a number of factors, such as overall safety, project time projections, anticipated delays for safety zone processing, etc. In some embodiments, the mission plan may determine whether the rating is optimal or above an approved threshold before proceeding with a plan. If the plan is approved, the process proceeds to finalizing the mission plan. If the plan is below an approved level, the mission planning system may reprocess to develop a new path plan and safety zone evaluation.

[0108] In box 314, the system generates a mission plan including predicted safety zones based on predicted areas of risk. The system may use the path plan including safety zones for each machine to design a mission plan for each machine. The mission plan may apply automation instructions for the machine's automation system to drive the path plan and conduct required actions. In addition, the mission plan may include additional initiation information, scheduling requirements, communication protocols for the fleet of machines, and include additional information to facilitate automated operations for the project.

[0109] In some embodiments, the mission plan will include operational instructions for implementing safety zone protocols, including communication protocols, notice triggers associated with safety zones, machine identifications associated with safety zones and other information. In some embodiments, the mission plan provides only relevant information for the safety zone, such as a zone ID, impacted machine IDs, pause positions and additionalinformation for the machine's controller to use when operating the automation system and responding to safety zone information.

[0110] In some embodiments, the mission planning system may further indicate start times for the project and each machine to minimize delays or other impact from safety zones. For automated machines that are at the staging zone, the mission plan may cause the appropriate staggered or parallel initiation to improve overall project efficiency. In some embodiments, the mission planning system may assign different path plans to a machine that are selected and communicated to the fleet based on start times for each machine.

[0111] Figure 4 provides a flowchart for a predictive collision avoidance analysis. In box 402, the system receives a request for a collision risk prediction, including machine information and path plans. The PCAS may receive the request directly from a mission planning system in some embodiments. In other embodiments, the request may come through other systems, such as a path planning system, a project management system, a cloud management system or a mission storage. The request may be initiated by a project manager, field or equipment owner, an authorized user or other person.

[0112] In some embodiments, the machine information may provide machine characteristics that will be evaluated for the collision risk prediction. In other embodiments, the machine information may identify a specific machine, which the PCAS may retrieve information about from a machine information storage. Each machine will be associated with one or more of the path plans.

[0113] In box 404, the PCAS evaluates a first machine's path plan relative to the path plans of the other machines to identify any proximate points on the path plan within a threshold distance of any point on another machine's path plan. In some embodiments, the PCAS will first filter out any path plans that will not be contemporaneous with the first machine's path plan. In some embodiments, the PCAS may only eliminate the path plans that cannot be contemporaneous and may still evaluate the plans that are not supposed to be active at the same time, if there is a possibility that they may overlap. For example, if a second machine's plan is dependent on the first machine's project being completed, they will not overlap and the PCAS does not need to evaluate these plans with one another. As another example, if the project has the first machine scheduled to be completed before the second machine begins based on timing, there is a possibility that the first machine may be delayed, and the two machines are active at the same time.

[0114] In some embodiments, the PCAS may determine the threshold distance for the evaluation based on first machine information. For example, the PCAS may determine the pass and turning widths from center for the first machine. The PCAS may use the largest width in each direction from center and set the threshold distance as 1.25 times the larger width in each direction from center. In such embodiments, the determination from center may account for an offset implement and result in an evaluation with different thresholds on each side of the path. As another example, the threshold distance may be 1.5 times the greatest width of the machine and any implement. In some embodiments, the PCAS may receive the threshold distance from the machine information or request for collision risk prediction.

[0115] In some embodiments, the PCAS will evaluate the first machine's path plan by identifying all path plans that include proximate passes to the first machine's path plan, which may include crossing paths, adjacent passes, adjacent turns and any other operations that may be within the threshold. The PCAS may use an overlay of the path plans to identify all correlations and mark points on the first machine's path plan that are within the threshold distance. In some embodiments, the PCAS may conduct graphical analysis to flag all relevance path proximities. Embodiments may use a point plotted path plan to conduct radial spacing evaluations at each point to flag proximate paths. As those skilled in the art will recognize, the process to identify proximate locations may vary and remain within the scope of the application. For example, the system may use one or more of graphical analysis, geographic analysis, point plotting analysis, machine learning or other processes to identify the points and paths that are within the threshold distance to the first machine's path plan.

[0116] In box 406, the PCAS determines risk points where the first machine's direction of travel is counter-directional to another machine's direction of travel on the path plan at the identified proximate points. In some embodiments, the proximate points on the first machine's path are associated with a direction of travel or a series of directions representing a turn at a corner. For each proximate point on the first machine's path, the PCAS will compare the directions of travel for the proximate points on another machine's path plan.

[0117] Embodiments of the PCAS may use a threshold angle between the paths to determine whether the paths and direction of travel are considered counter-directional. For example, the PCAS may use a threshold angle of 45 degrees from the first machine's path plan along the direction of travel, wherein any angle greater than 45 degrees is considered counter-directional. Those skilled in the art will recognize that the threshold angle may vary depending on thepredictive options and selected protocols for machine operation. For example, the PCAS may use a wider angle, such as 50 to 80 degrees, when an alternative safety zone is also employed to identify co-directional travel. In some embodiments, the PCAS may determine the threshold angle based on the machine information, such as speed, size, operation, and other information.

[0118] In some embodiments, if the two directions are the same, the PCAS will not consider this a risk point because the machine's onboard safety systems will not need the advance warning to prevent a lockup encounter between the machines. The second machine to arrive will follow the first through the area. The onboard safety system may prevent collision through speed and pause management.

[0119] The PCAS may create alternative safety zones to address distinct risk situations or risk categories. For example, the PCAS may create a co-directional safety zone that has alternative notice and response operations for machines. A co-directional safety zone may include trigger notices to let the affected machines identify as leading or following machines in a zone. In some embodiments, a co-directional zone may trigger each machine to determine proximity to the zone and determine if the faster machine needs to be prioritized.

[0120] In box 408, the PCAS generates safety zones covering the area of the first machine's path plan wherein the path plan is within a safety distance to a risk point. A safety zone may be compiled based on the series of consecutive risk points along a path. In some embodiments, a safety zone may break at path turns and another safety zone may overlap if additional risk points are relevant.

[0121] The PCAS may calculate a safety zone as any area where two or more machines may reach a locking situation based on the angle of travel and proximity. For example, if a first machine's path has a pass that is counter-directional to a portion of a second machine's pass, the safety zone may extend far enough beyond the limited entry area to prevent a locking circumstance from the subsequent machine to reach the area encroaching on the path. Those skilled in the art will recognize that the safety zones may vary in size and shape to prevent unnecessary locking situations between machines in a fleet. Some varied potential safety zones are illustrated in figure 2 for reference.

[0122] Generating the safety zones may be creating a series of location defined zones, which use boundaries consistent with the path plan location coordinate system. The safety zones may be independent from the path plan and configured to be overlaid or considered in parallel to the path plan. For example, the safety zones may be distinct from the path plans for systems thatmonitor the safety zones within a collision avoidance system while the path plan is followed by the automation controller.

[0123] In some embodiments, generating the safety zones includes integrating the safety zones into the path plan for the first machine. An integrated safety zone and path plan layout may be preferred for systems that use the automation controller to follow the path plan and monitor for safety zones. Those skilled in the art will recognize that the combined or separated options may be used for either structure of automation controller and collision avoidance system employed by the working machine.

[0124] In box 410, the PCAS optionally repeats steps 404-408 by evaluating a path plan, determining risk points and generating safety zones for additional machines until collision risk prediction is complete. In some embodiments, the PCAS may repeat the process for all path plans received. The system may assign overlapping safety zones based on the evaluation for a given path plan and all safety zones generated for other path plans based on proximity and direction relative to the given path plan. In some embodiments, the PCAS may compile each type of safety zone to generate efficiency in common safety zone designs to prevent lockout circumstances.

[0125] In other embodiments, the PCAS may stop processing additional path plans when all remaining path plans are not contemporaneous or adjacent to another remaining path plan. These path plans will receive safety zone information based on their impact on other evaluated path plans. For example, a machine with a path plan that is adjacent to the first machine's path plan will have a corresponding safety zone from the proximate sections of the first machine's safety zones.

[0126] In box 412, the safety zones are sent to the mission planning system. The safety zones may be sent to the mission planning system as a distinct component or embedded into a larger component, such as the path plan or site map. For example, the PCAS may send a distinct safety zone file with defined zone coordinate information. As another example, the PCAS may send a compiled file including the path plan and safety zones in coordinate form. The information may be distinct within the file, such as table information with distinct instructions and data for both path planning and safety zones. In other embodiments, the information is compiled, wherein the path plan file includes points on the path plan to define zone entry and exit locations.

[0127] In some embodiments, the mission planning system may compile or decompile the information as appropriate for the project and working machines' operational systems. Inaddition, the mission planning system may receive the safety zones in coordinate form and integrate appropriate notice and operation instructions for the machines to implement the safety zones.

[0128] Figure 5 illustrates a working machine operation flowchart for predictive collision avoidance. This provides an implementation of a mission plan having safety zones by a working machine, such as an agricultural, turf, construction, mining or other machine. Embodiments of the working machine may operate autonomously or in a semi-autonomous manner. The process will be discussed from the perspective of the primary working machine, which simply identifies perspective for evaluation. Each machine in the multiparty project may be a primary machine for the mission plan it implements and a secondary or other machine from the perspective of the remaining machines in the project.

[0129] In box 502, the primary working machine receives a mission plan for a multiparty project, which includes safety zones. Safety zones may be formatted in a variety of ways as discussed further herein. For example, the safety zones may be integrated with the path plan used in the mission plan. The primary working machine may receive the mission plan through a wireless network or a wired network, using a communication system and / or network communication card. For example, the primary working machine may include a cellular communication system that establishes a connection through the cellular network to the Internet or a specified intranet system to receive the mission plan communication. The mission plan passes from the communication system through an onboard gateway to memory associated with the automation controller for the primary working machine.

[0130] During this step, the onboard gateway may facilitate an authentication protocol or other security steps to ensure the mission plan communication is authorized and safe to use. For example, during a communication initiation process, the onboard gateway may request authentication credentials, which may include an IP address, username, encoded password, authentication key or other information the gateway may use to ensure the source and instructions are authorized to instruct the primary working machine.

[0131] In box 504, the primary working machine executes the mission plan. The process for executing the mission plan may be tailored to the type of machine and automation system. This operation of executing the mission plan will continue contemporaneously with the safety zone processing discussed further herein. All mission plan and safety zone processing may end at the end of the mission plan completion for the project.

[0132] In box 506, the primary working machine exchanges communication with nearby machines, including position and collision avoidance information, during the operation of the mission plan. In this embodiment, the execution of the mission plan continues with the automation controller, the collision avoidance system or other system processing the predicted safety zones protocols to avoid lock out situations between machines. The exchange of information may be used by one or more systems to increase safe operations for the multiparty fleet project. For example, the position information shared during the exchange may be used by the automation control system in monitoring safety zones and by a collision avoidance system monitoring real-time potential interactions.

[0133] In some embodiments, the collision avoidance information may include predicted safety zone notification information. For example, mission plans for each machine in the fleet may be designed to send a notification for zone entry and zone exit immediately prior to entering or exiting a safety zone. The machines may send broadcast communications so multiple nearby machines receive the notification. In some embodiments, the machines may send a notification directly to one or more machines associated with the specific safety zone that is being approached or exited. In some embodiments, this may be achieved through direct identification information assigning frequency channels or identification protocols. Direct communication may be through any local communication protocol through onboard communication systems. In some embodiments, the mission plan notifications may be situated to allow indirect notifications to be routed through a remote system, such as a cloud management system, a field communication hub or other routing center. For example, a machine may send its operational information, ID and any trigger or zone notices to a cloud management system, which will then send the machine's information and notices to other machines in the fleet. The cloud management system may provide broadcast information or direct specific information to only the applicable machines affected by the notices or other information. In some embodiments, the system may implement redundant communication protocols for increased safety, remote monitoring or other purposes.

[0134] Additionally, the machines may use periodic communications to confirm that all machines are actively communicating, and none appear to be inactive. This operates as a safety protocol, wherein all active machines are monitoring for the loss of any machine. If any machine is not in communication with the other machines, heightened safety protocols may be initiated to monitor for a silent machine. For example, a machine's safety bubble may be expandedthrough further processing of perception safety equipment. The periodic communications could be a simple pinging broadcast or active information that is provided at set intervals. In some embodiments, if a first machine determines that second machine is not communicating, the machine may initiate a test sequence for the fleet to determine if there is a communication issue for the first machine, the second machine or neither. Those skilled in the art will recognize that an error in the first machine's communication system would likely prevent the first machine being able to determine if the second machine is also failing. A collective fleet conducting a communication check would more likely be able to determine limited communication failures.

[0135] In decision box 508, the primary working machine automation controller or other safety monitoring system will determine whether a zone entry notice has been received from another machine through the communication system. The zone entry notice may include a safety zone identification and an entry indicator in some embodiments. These may be encoded into the frequency signal for the active communication protocols and bandwidth for the site. In some embodiments, the encoded information may be compiled to serially provide the zone ID and entry indication with leading and / or trailing signal packets to verify the signal source and may include a time stamp. Signals may also include additional encoded information to identify the one or more machines affected by the notice. In addition, each working machine may be configured to repeat the notice a set number of times. In such embodiments, an encoded time stamp may be associated with the first provided notice in order to let other machines know when the machine entered the safety zone.

[0136] If a zone entry notice has been received, the process will proceed to box 512. In box 512, the primary working machine will pause prior to entering the applicable safety zone. For example, the primary working machine will pause movement along the path plan outside the applicable safety zone.

[0137] In some embodiments, the primary working machine may also pause additional operations. For example, the primary machine may pause a spraying activity to prevent unnecessary product dispersal when the machine's movement is paused. Based on the received notice, the primary machine may pause immediately if the primary working machine is approaching the same safety zone. The primary machine may continue the mission plan operations and movement until it approaches a threshold proximity to the safety zone on the path plan.

[0138] In some embodiments, the primary working machine may also send a confirmation communication to the machine that sent the notice. The confirmation communication may indicate that the zone entry notice was received.

[0139] In box 514, the primary working machine awaits a zone clear notice from the same machine that sent the zone entry notice. This may occur while the primary machine is paused or proceeding to the pause location prior to entering the safety zone. During this process, the primary machine continues to monitor communications that may be related to the same or other safety zones (as well as other information).

[0140] In box 516, the primary working machine proceeds into the safety zone after receiving a zone clear notice from the same machine that sent the zone entry notice. If the primary machine was paused, the primary working machine may restart one or more operations that may have been paused with the movement. In some embodiments, the mission plan includes specific pause protocols and resume protocols to ensure operations are efficient and effective.

[0141] After the primary working machine completes this pause process to allow another machine to pass through the safety zone, the process continues to evaluate if any other zone entry notices have been received in box 508.

[0142] In some embodiments, multiple safety zone processes may be active simultaneously. For example, while addressing a notice related to a first safety zone by a second machine, the primary machine may receive a notice of a third machine entering a second safety zone. In such cases, the primary machine may end up pausing for the initial safety zone it reaches that has an applicable notice. As another example, while addressing a notice related to a safety zone by a second machine, the primary machine may receive a notice from a third machine entering the same safety zone (for example if the second and third machine make passes along different portions of the safety zone in the same direction). In such cases, the primary machine may end up pausing for the safety zone and awaiting a zone clear notice from each of the second and third machines before proceeding.

[0143] If a zone entry notice has not been received for decision box 508, the process will proceed to decision box 510. In decision box 510, the primary working machine will determine if it has entered a safety zone. For example, the primary working machine may use a location determination component such as a GPS system, a geospatial referencing system, and other location determination systems. In some embodiments, the primary working machine may use path planning reference points that may use machine movement tracking or other systems totrack location on the path plan. In some embodiment, a local site may include a field location referencing system with one or more physical or electronic positioning reference points. If the primary machine has not entered a safety zone, the primary machine continues to check for receipt of a zone entry notice in decision box 508 and the entry of a safety zone by the primary working machine in decision box 510.

[0144] If the primary machine has entered a safety zone, the process continues from decision box 510 to box 520. In box 520, the primary machine will send a zone entry notice with a zone identification. The primary machine may send a direct communication to other machines associated with the same safety zone. In some embodiments, the primary machine will broadcast the zone entry notice to all nearby machines or the fleet of machines for the project.

[0145] In some embodiments, the primary machine may proceed to optional box 522 and confirm notice receipt from machines associated with the safety zone. The zone entry notice trigger may be sufficiently ahead along the path to allow communication time for receipt confirmation prior to passing a threshold location in the path plan or safety zone that will lead to a potential lockout situation. The mission plan may set the trigger locations with the purpose of avoiding any unnecessary pausing.

[0146] This optional step may provide further safety to the system by confirming other machines are aware of the primary machine's notice and will operate accordingly to prevent a lockout situation. For example, if a confirmation notice is not received, the primary machine may pause to provide further time for a confirmation response. The primary machine may elevate real-time collision avoidance systems to respond to potential malfunctions relating to communication failures. For example, the primary machine may expand a real-time directional safety zone using perception equipment.

[0147] After sending the zone entry notice and potentially receiving the optional notice receipts, the primary working machine proceeds through the safety zone along the path plan in box 524. The primary working machine may proceed through the safety zone while continuing to monitor for other notices and with the real-time collision avoidance system monitoring for risks that were not predicted by the PCAS.

[0148] In box 526, the primary machine sends a zone clear notice 526. As with the zone entry notice, this zone clear notice may be sent directly to select machines or broadcast to other machines in the vicinity. Once clear of the safety zone, the process illustrates the ongoingmonitoring for zone entry notices from other machines and entering a safety zone by the primary machine in decision boxes 508 and 510.

[0149] Figure 6 illustrates a dynamic project map diagram. The project site 602 includes an illustration of the path plans 620 and 622 for two machines 604 and 606 to conduct a project on site 602. For example, the project may require the two machines 604 and 606 to fertilize the project site 602. Each machine 604 and 606 may include a sprayer implement for liquid fertilizer. In some embodiments, the machines 604 and 606 may be the same type of machine and implement combination, which will have common size, turning radius and speed considerations. In other embodiments, the machines 604 and 606 may have distinct features for consideration during the evaluation. In this illustration, the size considerations are consistent, which corresponds to the common swath spacing for each path plan 620 and 622.

[0150] This project site 602 includes a staging area 608 for a first working machine 604, which is the location for the first machine 604 to start and end its mission plan. The first machine 604 begins in this staging area 608 and follows the path plan 620. The path plan 620 follows swaths from the right side to around the middle of the site 602 and ends in the staging area 608 in this figure. The second machine 606 follows swaths from around the middle of the site 602 to the left side and then proceeds to make a pass along the headland around the entire field of site 602. The direction of travel for both machines 604 and 606 is laid out in the path plans 620 and 622.

[0151] This embodiment also illustrates safety bubbles for each machine's collision avoidance system. The first machine 604 includes a radial risk bubble 610, which reflects the perception area evaluated by the collision avoidance system for real-time risks around the machine 604. Such risks may result from anything that the perception system may identify as a potential for collision or risk, including other machines, objects, animals, people, holes, or other collision risks. In some embodiments, the perception system is also trained to evaluate risks to the machine getting stuck, such as mud holes, wire, or other non-collision risks. In addition to the radial risk bubble 610, the first machine 604 includes a travel risk bubble 612. The travel risk bubble 612 uses the perception system to evaluate further in the direction of travel of the first machine 604 to anticipate risks that are not yet within the radial risk bubble 610. Specifically, the travel risk bubble 612 utilizes the perception system's forward-looking features to evaluate in the forward direction of travel and, in some aspects, the travel risk bubble 612 is configured to anticipate risks in the reverse direction of travel. In some embodiments, the travel risk bubble612 may also adjust perception to evaluate along a planned path of travel. For example, as the first machine 604 approaches the turn at the end of a pass, the travel risk bubble 612 may use the perception system to evaluate any risk around the corner that is approaching even before the radial risk bubble 610 reaches the area. In this embodiment, the radial risk bubble 610 and the travel risk bubble 612 are safety bubbles based on perception systems. In other embodiments, the safety bubbles may be based on other features or information, such as location-based systems, or combinations of systems, such as location-based and perception systems.

[0152] The second machine 606 also includes a collision avoidance system with a radial risk bubble 614 and a travel risk bubble 616. In some embodiments, the machines 604 and 606 may share information through direct or indirect communication with the other machines 604 and 606 indicating the area of the travel risk bubbles 612 and 616 to identify overlap for potential advanced risk notice. In some embodiments, the first or second machine 604, 606 may perform one or more actions depending on if the travel risk bubble 612, 616 or the radial risk bubble 610, 614 of the other of the first and second machines 604, 606 enters the travel risk bubble 612, 616 of the respective first or second machine 604, 606. For example, if the travel risk bubble 616 of the second machine 606 enters the travel risk bubble 612 of the first machine 604, the first machine 604 may perform a first action (e.g., notification) and, if the radial risk bubble 614 of the second machine 606 enters the travel risk bubble 612 of the first machine 604, the first machine 604 may perform a second action different from the first action (e.g., stopping) until the radial risk bubble 614 of the second machine 606 clears the travel risk bubble 612 of the first machine 604.

[0153] It should be understood that the radial risk bubbles 610, 614 and the travel risk bubbles 612, 616 can be any shape and may vary in distance and / or position around the first and second machine 604, 606 to reflect operational characteristics. For example, the radial risk bubble 610, 614 and / or the travel risk bubble 612, 616 may extend further forward than to the sides based on the movement direction of the first or second machine 604, 606 to reflect higher or lower safety risks. Accordingly, the size of the radial risk bubbles 610, 614 and the travel risk bubbles 612, 616 may be fixed or may vary. For example, the radial risk bubble 610, 614 may have a fixed size, e.g., corresponding to a buffer area surrounding the outer physical dimensions of the first or second machine 604, 606, and the travel risk bubble 612, 616 may have a variable size, e.g., dynamically adjusting based on operating conditions such as, for example, speed anddeceleration limits. In aspects, the radial risk bubbles 612, 616 and / or the travel risk bubbles 612, 616 may be used in conjunction with the safety zones, discussed above, and / or notification zones, discussed below.

[0154] Those skilled in the art will recognize that the travel risk bubbles 612 and 616 provide significant advantages over a system with a single area bubble like the radial risk bubbles 610 and 614 alone. As one example, the further advanced notice associated with the direction and path of travel provides additional time for each machine 604 and 606 to modify operations to prevent collision and limit operational changes that may affect project efficiency or scope.

[0155] Figure 6 also includes notification zones 624 and 626. In some embodiments, the notification zones 624 and 626 may be replaced by location identifiers, such as a line assigned across a portion of a path plan, a specified geographic boundary, a physical reference, a separate field signal or other indicator. In this embodiment, the notification zone 624 is configured to indicate a location for second machine 606 to pause until the first machine 604 reaches notification zone 626. When the first machine 604 reaches notification zone 626, the first machine 604 sends a notification to the second machine 606 indicating that the first machine 604 has reached notification zone 626. When the second machine 606 receives the notice, the second machine 606 may resume operations along the path plan 622.

[0156] The notification zones 624 and 626 may be assigned by the mission planning system, the PCAS or by manual instructions. In some embodiments, a user may assign notification zones 624 and 626 as additional or modified controls for a mission plan. For example, the user may determine that assigning the pause location at notification zone 624 and the trigger location at notification zone 626 will reduce the likelihood of collision risks and ensure that the bottom headland pass occurs after the field operations are complete. In some embodiments, these user- assigned notification zones will be evaluated by the PCAS to determine a new set of safety zones. The PCAS may determine that most safety zones will become irrelevant due to the required pause and required machine timing. For example, only safety zones 212 and 216 could be applicable based on the pause of machine 624, and the likelihood of a risk at safety zone 216 is significantly reduced based on the positioning and movement of each machine 604 and 606 when the second machine 606 is able to resume.

[0157] In some embodiments, notification zones may be set to provide synchronization among machines separate from any safety risk. In addition, different notification zones may be collectively applied wherein one or more operational instruction zones are tied to one or moretrigger notification zones. For example, a mission plan may include one pause location for a machine on a first path plan that is associated with trigger locations for multiple other machines on different path plans. As another example, multiple machine path plans may include pause locations that are associated with one trigger location for another machine. In some embodiments, a path plan may include multiple pause locations and / or trigger locations.

[0158] In some embodiments, pause locations or trigger locations may be correlated with machine characteristics. For example, a path plan may have a series of trigger locations within certain swaths and pause locations at certain edge locations of the field. The machine may proceed along the path plan while monitoring its fuel tank level. When the machine passes a trigger location and the fuel tank is below a threshold level, the machine sends a trigger notice with information regarding the specific trigger ID or upcoming pause location to request more fuel. The machine may proceed to the next pause location and await refueling.

[0159] In some embodiments, triggers may be initiated solely on machine characteristics. For example, a first machine may proceed with a path plan until it runs out of liquid fertilizer. The first machine may issue a trigger notice when it reaches a threshold level of the fertilizer in the tank. When a second machine receives the trigger notice, the second machine may proceed to continuing the fertilizer application up to the point in which the first machine ceased applying fertilizer. Some embodiments may provide triggers based on machine characteristics relating to machine status and operation, such as fuel life, maintenance requirements, damage detections, performance limitations, and / or other information.

[0160] Some embodiments provide a management system for a plurality of working machines, wherein the management system may include a networked server system, at least a first working machine and a second working machine. The networked server system may include a server communication card configured to communicate over a communication network, a server memory, and a server controller operatively connected to the server communication card and the server memory. The server controller may be configured to manage the server memory and communication over the server communication card. The first working machine may include a first application gateway having a first communication card configured to communicate over the communication network with the server communication card, a first machine control unit comprising a first processor and a first memory, which stores first machine operating instructions, a first machine actuator system having a first machine control actuator, and a first automation sensor. Similarly, the second working machine may include a second applicationgateway having a second communication card configured to communicate over the communication network with the server communication card, a second machine control unit comprising a second processor and a second memory, which stores second machine operating instructions, a second machine actuator system having a second machine control actuator, and a second automation sensor.

[0161] In some embodiments, the server controller may initiate a PCAS, which receives a first working machine path plan and a second working machine path plan. The PCAS may analyze the first working machine path plan and the second working machine path plan to determine a potential risk. The potential risk may be identified by determining a portion of the first working machine path plan that is within a threshold proximity distance to a portion of the second working machine path plan. The potential risk may also be identified by determining that the first working machine direction of travel at the portion of the first working machine path plan is counter-directional to the second working machine direction of travel at the portion of the second working machine path plan. The PCAS may generate a safety zone based on the potential risk, the portion of the first working machine path plan and the portion of the second working machine path plan. In some embodiments, the PCAS may identify multiple safety zones in the same manner.

[0162] In some embodiments, a mission planning system of the networked server may generate a first mission plan for the first working machine, which includes the first working machine path plan, the safety zone and operation instructions for the first working machine. The mission planning system may also generate a second mission plan for the second working machine which includes the second working machine path plan, the safety zone and operation instructions for the second working machine. The server controller may send the first mission plan to the first working machine via the communication network and the second mission plan to the second working machine via the communication network. During operation the first working machine and the second working machine may transmit notices based on the safety zone and receive notices based on the safety zone. When the first working machine receives a second machine zone entry notice from the second working machine the first working machine may temporarily pause operations out of the safety zone. Similarly, when the second working machine receives a first machine zone entry notice from the first working machine the second working machine will temporarily pause operations out of the safety zone.

[0163] The PCAS may also receive first machine operational characteristics for the first working machine and second machine operational characteristics for the second working machine. ThePCAS may analyze the first machine operational characteristics and the second machine operational characteristics to determine the threshold proximity distance. The PCAS may also analyze the first machine operational characteristics and the second machine operational characteristics to determine a safety zone requirement. In such embodiments, generating the safety zone may also be based on the safety zone requirement.

[0164] In some embodiments, the PCAS may be integrated with the mission planning system of the networked server. In other embodiments, the PCAS includes an application gateway having a PCAS communication card configured to communicate over the communication network with the server communication card, a PCAS memory and a PCAS controller, wherein the PCAS controller is configured to manage the PCAS memory and communication over the PCAS communication card.

[0165] In some embodiments, the PCAS may determine and generate a plurality of safety zones, wherein each of the plurality of safety zones are determined based on the threshold proximity distance and a determination of counter-directional travel for the first working machine and the second working machine. In some embodiments, a working machine may send a broadcast communication containing a machine zone entry notice, wherein each working machine of the plurality of working machines that is associated with the safety zone will temporarily pause prior to entering the safety zone. A working machine may transmit a machine zone clear notice when the working machine leaves the safety zone. A working machine that was paused outside the zone may then proceed into the safety zone after receiving the machine zone clear notice.

[0166] In some embodiments, the first working machine direction of travel at the portion of the first working machine path plan is counter-directional to the second working machine direction of travel at the portion of the second working machine path plan when the second working machine direction of travel is more than a threshold angle from the first working machine direction of travel. In some embodiments, the threshold angle from the first working machine direction of travel is more than 70 degrees. In some embodiments, the threshold angle is selected from a range of potential angles from 30 degrees to 90 degrees. Some embodiments may provide selectable options such as 45, 55 or 65 degrees.

[0167] Some embodiments may be understood from the perspective of a primary working machine operating within a fleet management system having a PCAS. The primary working machine may include a communication gateway and an automated control system. The communication gateway may include a wireless communication card which provides communication over a wireless communication network. The communication device may be configured to communicate with a second working machine that comprises a second wireless communication card. The automated control system may manage operations of the primary working machine based on a mission plan received from a mission planning system. The mission plan may include a primary working machine path plan for the primary working machine and a safety zone determined by the PCAS. The safety zone may be based on an evaluation of proximity between the primary working machine path plan and a second working machine path plan and direction of travel at a proximate section of the primary working machine path plan and a second working machine path plan.

[0168] During execution of the mission plan, the automated control system may execute instructions to direct the primary working machine along the primary working machine path plan. The automated control system may also track a primary working machine location. Tracking may be conducted through a location determination component or reference and operation calculations. When the automated control system determines the primary working machine location enters the safety zone, the automated control system may send a primary working machine zone entry notice via the communication gateway. When the automated control system receives a secondary working machine zone entry notice through the communication gateway, the automated control system may pause the primary working machine prior to entering the safety zone and await a second working machine zone clear notice from the second working machine. The primary working machine may enter the safety zone after receiving the second working machine zone clear notice.

[0169] In some embodiments, the safety zone may be determined as a section of the primary working machine path plan that is within a threshold proximity distance to the second working machine path plan and has the direction of travel for the primary working machine that is counter-directional to the second machine's direction of travel. The direction of travel for the primary working machine may be considered counter-directional to the second machine's direction of travel when the second machine's direction of travel is more than a threshold angle from the direction of travel for the primary working machine.

[0170] In some embodiments, the mission plan includes a plurality of safety zones, including the safety zone. Each identified safety zone of the plurality of safety zones may include operation modifications for a working machine based on a predicted risk within the identified safety zone. The plurality of safety zones may include a second safety zone, which is based on a section of the primary working machine path plan that is within a threshold proximity distance to the second working machine path plan and has the direction of travel for the primary working machine that is codirectional to the second machine's direction of travel. For example, if the second machine's direction of travel is less than the threshold angle for determining counterdirectional travel. In some embodiments, the second safety zone may include an operation modification instructing any working machine that enters the second safety zone while another working machine is in the second safety zone to modify travel speed as needed to remain behind the another working machine.

[0171] In some embodiments, the primary working machine may also include a collision avoidance system using perception sensors to evaluate potential risks. The collision avoidance system may evaluate a local area bubble around the primary working machine for proximate potential risks. In addition, the collision avoidance system may evaluate a travel area bubble extending beyond the local area bubble along a path of travel for distant potential risks. The distant potential risks may be potential risks that are beyond the proximate potential risks.

[0172] Some embodiments may include a management system for a plurality of working machines. The management system may include a networked server system, a first working machine and a second working machine. The networked server system may include a server communication card configured to communicate over a communication network, a server memory, and a server controller operatively connected to the server communication card and the server memory. The server controller may be configured to manage the server memory and communication over the server communication card.

[0173] The first working machine may include a first application gateway with a first communication card configured to communicate over the communication network with the server communication card. The first working machine may also include a first machine control unit comprising a first processor and a first memory, which stores first machine operating instructions, a first machine actuator system having a first machine control actuator, and a first automation sensor. Similarly, the second working machine may include a second application gateway having a second communication card configured to communicate over thecommunication network with the server communication card. The second working machine may also include a second machine control unit comprising a second processor and a second memory, which stores second machine operating instructions, a second machine actuator system having a second machine control actuator, and a second automation sensor.

[0174] In some embodiments, the mission planning system may generate a notification pause zone and a notification trigger zone based on information received from a user interface. The notification pause zone may be assigned to a location on a first working machine path plan and the notification trigger zone may be assigned to a second working machine path plan. The mission planning system of the networked server may also generate a first mission plan for the first working machine which includes the first working machine path plan, the notification pause zone and operation instructions for the first working machine. The mission planning system may also generate a second mission plan for the second working machine which includes the second working machine path plan, the notification trigger zone and operation instructions for the second working machine. In some embodiments, the server controller may send the first mission plan to the first working machine via the communication network and the second mission plan to the second working machine via the communication network.

[0175] During operation, when the first working machine reaches the notification pause zone, the first working machine may temporarily pause operations. The second working machine may transmit a trigger notice based on the notification trigger zone. The first working machine may receive the trigger notice from the second working machine through the first application gateway. When the first working machine receives the trigger notice from the second working machine, the first working machine may resume operations.

[0176] In some embodiments, the safety management system implementing safety operations based on predictive collision avoidance information may allow operating machines to safely avoid collision or lock situations without the need to constant communication. The applicable machines are able to avoid collisions with respect to each other through safety zone entry and exit notices without ongoing location and speed communication. In addition, providing applicable safety zone notices at the time they are relevant may be configured as low bitrate or bandwidth communications, increasing operational efficiencies and reducing communication loads required for safety operations between machines using PCAS safety zones. In addition, machine reactive efficiency may be increased because specific predetermined responses to each safety zone entry or exit notice may be built into the receiving machine. This eliminates theneed for active processing requirements to determine next steps and evaluate perception or other information for the other machine that provided notice. This advantage in computer efficiency may be increased by avoiding lockout situations that may require altering mission plan operations to avoid a collision or backtracking to allow resumption of a mission plan.

[0177] Figures 7 through 14 provide diagrams to illustrate a process for developing safety zones from path plans. This process is one option to the development of safety zones. Alternative processes may skip, add, or replace one or more steps in the process in developing safety zones. The process outline references two path plans for a field 700 for discussion. The same process may be applied to multiple paths within a field or a series of fields depending on the project scope.

[0178] Figure 7 illustrates a first path plan on field 700. In this embodiment, the first path 702 begins at entry point 704 and concludes at the exit point 706. The path 702 follows the machine route 710 and shows machine offset with the exterior edge 712 and interior edge 714. Those skilled in the art will recognize that the route 710 may reflect the steering path assigned to a machine or vehicle. The edges 712 and 714 may reflect operational dimensions of a machine, such as the width of the machine and any implement. In some embodiments, the width may include an error margin for safety. The margin may be calculated based on machine operation characteristics, standard deviations of travel between assigned and actual paths, standard deviation on machine or implement sizing and position, and / or any other variable. Alternatively, a safety margin may be predefined for applications.

[0179] In some embodiments, the offset edges 712 and 714 may be equal distances from the route 710. In other embodiments, the offset edges 712 and 714 may be different distances from the route 710. For example, a side mower for a tractor may extend further to one side of the route than the other. In such cases, the offset edge 712 or 714 on the mower side may be further from the route 710 to cover the implement positioning.

[0180] From the entry point 704, the path 702 continues into the work area of field 700 turning to the bottom of the diagram to make an outer loop 722. The outer loop 722 in this embodiment forms an outer box of the work area. The machine completes the outer loop 722 and proceeds across an overlapping section 720 of the outer loop before turning into an interior path 724 with a central set of serpentine passes within an intermediate loop 728. After the serpentine passes, the machine proceeds to operations along the intermediate loop 728. Whenthe intermediate loop 728 is completed, the machine continues along intermediate overlapping section 726 of the intermediate loop and proceeds to leave the work area to the exit point 706.

[0181] The path 702 is broken into a series of segments for further analysis. Some of the segments are identified as 730, 732, 734, 736 and 738. The selected segments illustrate some of the direction changes and points of interest for developing safety zones. Creating segments allows independent evaluation between segments to avoid unnecessarily overbroad safety zones while capturing the relevant scope for safe operations. In addition, the segments create efficient analysis to identify and develop applicable geometry for safety zones. In some embodiments, the segments may be identified based on one or more characteristics of the route 702. For example, the segments may be identified based on types, such as parallel field paths, turning paths, transition paths, non-field paths, headland passes and / or other path types. In some embodiments, the system may select applicable types for a field or project from a predefined list of possible path types. As another example, the system may separate turns from lines based on a threshold change of direction analysis between route points.

[0182] During planning, the mission planning system may use a path planning system to provide the initial path 702 as a route 710. The mission planning system or a separate predictive collision avoidance system may take the route 710 to generate route segments and the path 702 with offset edges 712 and 714. The system may generate the route segments prior to or after defining the offset edges 712 and 714.

[0183] Figure 8 illustrates a second path plan on field 700. In this embodiment, the second path 750 begins at entry point 752 and concludes at the exit point 754. The path 750 follows the machine route 760 and shows machine offset with the exterior edge 762 and interior edge 764. The offset edges 762 and 764 may reflect the width of the machine and any implement with or without an error margin for safety as discussed with the first path 702 offset edges 712 and 714. Similarly, the offset edges 762 and 764 may be equidistant to the route 760 or shifted to one side or the other.

[0184] From the entry point 752, the path 750 continues into the work area of field 700 turning to the bottom of the diagram to make an outer loop 772. In this embodiment, the outer loop 772 of the second path 750 forms an outer box for the second machine to work. The second machine completes the outer loop 772 and proceeds across an overlapping section 770 of the outer loop before turning into an interior path 774 with a central set of serpentine passes within an inner loop 778. After the serpentine passes, the machine proceeds to operations along theinner loop 778. When the inner loop 778 is completed, the machine continues along inner overlapping section 776 of the inner loop 778 and proceeds to leave the work area to the exit point 754.

[0185] Similar to the first path 702, the second path 750 is broken into a series of segments for further analysis, including the identified segments 780, 782, 784, 786 and 788. As with the first path 702 analysis, the segments may be identified based on one or more characteristics of the route 750.

[0186] Figure 9 illustrates the field 700 with the first path 702 and the second path 750 overlaid. In this embodiment, the first path 702 and the second path 750 cover the working area of the field 700. In some embodiments, the field 700 may include space uncovered by the paths 702 and 750. For example, if the operational width of a machine or implement is wider than the interior and exterior edges for the machine or implement, the field 700 may be operationally covered while the paths 702 and 750 only partially cover the field 700. In some embodiments, the system may evaluate and integrate the operational spacing during the path planning for the route. The safety width based on machine or implement size and position may be applied to the route to form a path for determining safety zones independent of any operation spacing.

[0187] The overlay of paths 702 and 750 illustrates certain locations where one path may cross another path in whole or in part. For example, segment 734 of the first path 702 transitions from the outer loop 722 to the center of the work area of field 700, crossing the second path 750 over the outer loop 772 and the inner loop 778. Similarly, the second path 750 has segment 780 overlapping the outer loop 722 of the first path 702 and segment 786 overlapping the intermediate loop 728 of the first path 702. In addition, segments 736 and 786 overlap with each other and the inner loop 778.

[0188] Figure 10 illustrates a series of intersection polygons 802-816 derived from an analysis of the overlapping segments between the first and second paths 702 and 750. The intersection polygons 802-816 reflect potential collision areas between machines following the first and second paths 702 and 750. In the embodiment shown, the analysis considered a limited margin of error or tolerance. An increased tolerance width may include more potential collision areas for defining further polygons.

[0189] In some embodiments, the polygons represent an intersection of one segment in the first path 702 with one segment of the second path 750. These individual polygons may represent the shape formed from the overlapping portion of a segment of the first path 702 anda segment of the second path 750. These independent segment overlaps may form a combined polygon of connected or overlapping individual polygons.

[0190] In the embodiment shown, polygon 802 reflects an intersection between the entry segment 780 of the second path 750 and a segment of the outer loop 722 of the first path 702. Similarly, the segment of the second path 750 exiting the working area also overlaps the outer loop 722 of the first path 702, which yields polygon 804. As illustrated, entry segment 734 of the first path 702 crosses the outer loop 772 and inner loop 778 of the second path 750. These intersections form an independent polygon 806 and a polygon forming a first portion of the combined polygon 816. The second portion of the combined polygon 816 is formed from overlap with the second path 750 where a segment in the first path 702 follows segment 734. Intersection polygon 808 illustrates an independent intersection between the segment 784 of the second path 750 with the intermediate loop 728 pf the first path 702.

[0191] Intersection polygon 810 represents a combined polygon formed of multiple segment overlaps forming multiple interconnected individual polygons. As illustrated, the polygon 810 includes portions of segments 786 and those associated with the inner loop 778 of the second path 750 that overlap with the first path 702 at segment 736 and the adjacent sections. Similarly, the polygons 812, 814, and 816 are also each formed of multiple segment overlaps forming multiple interconnected individual polygons.

[0192] Figures 11 and 12 illustrate selected polygons based on direction of travel or heading characteristics between the routes 710 and 760. In addition, the individual polygons shown in figure 10 are combined in figures 11 and 12 where the polygons were connected or overlapping and consistent with the same travel assessment and / or operation. For example, polygon 830 is a combination of the intersection polygons 802 and 804.

[0193] In figure 11, polygons 820 - 824 represent combined potential collision areas for machines travelling in a similar direction. For example, the system may be configured to identify potential collision areas wherein the heading difference is less than a threshold angle, such as 30 degrees. The threshold angle may vary based on user selection, field characteristics, machine characteristics, margins of error, management tolerances, and / or other factors. In some embodiments, a threshold angle may be selected based on tolerance from set options, such as 35, 30, 25, or 15 degrees. Those skilled in the art will recognize that, apart from operational differences, aligned the headings are less likely to create collisions.

[0194] In the embodiment shown, the polygon 820 is associated with a portion of the interior path 774. The polygon 822 is associated with the segment 734 of the first path 702. The polygon824 is associated with the segment 784 of the second path 750. In each of these cases, the direction of travel along the specific section of the routes 710 and 760 align.

[0195] Figure 12 illustrates the combined potential collision areas for machines that are not travelling within a threshold of the same heading. For example, if the travel direction is more than 30 degrees for an associated path intersection, the individual polygons may represent risk for consideration in forming safety zones. As discussed above, the heading difference threshold may vary depending on risk assessment and tolerance, along with other factors.

[0196] The risk polygons shown in figure 12 may remain individual where they do not connect or overlap with another risk polygon, such as polygons 806 and 808. In some embodiments, the risk polygons cover a combination of individual polygons. For example, 830 covers intersection polygons 802 and 804 associated with the entry and exit of the second path 750. Similarly, polygons 832, 834 and 838 illustrate a single polygon covering a combination of overlapping polygons illustrated in figure 10 as combined polygons 812 - 816. The polygon 836 reflects one of the polygons shown in figure 10 within the combined polygon 810. This is because other polygons from those shown as combined polygon 810 are associated with aligned travel and shown as polygons 822 and 824 in figure 11.

[0197] In some circumstances, routes that have multiple path intersections around the same location may have overlapping segments that align with the other path in one comparison while not aligning with another comparison. This may be seen with the overlapping of the polygon 820 for aligned travel directions and the polygon 834 representing nonaligned travel directions.

[0198] Figure 13 shows an embodiment of a diagram of path occupant zones in the field 700. The path occupant zones include intersection polygons from figures 11 and 12, which may be individual polygons or combined polygons. In addition, linear adjacent path polygons 840, 842 and 844, and corner section polygons 846 and 848 are included. These adjacent path polygons 840 - 848 may be determined by increasing the safety margin, which is also reflected in the polygon shape linearly following the paths 702 and 750. In this embodiment, the linear adjacent path polygons 840, 842 and 844 are between aligned path headings and represent a low likelihood of collision. The corner section polygons 846 and 848 create a higher likelihood of collision due to the changing direction of travel in the corner.

[0199] Figure 14 illustrates a combination diagram with the occupant zones or safety zones for the path plans of field 700 overlaid with the path routes 710 and 760. In this embodiment, the safety zones are generated from the developed polygons. In this embodiment, some safety zones are shown as the individual polygons, such as safety zones 806 and 808. Some safety zones are shown as combined polygons from earlier steps in the analysis, such as safety zones 830 and 832. Other safety zones were identified through wider edge analysis, such as safety zones 840 - 848. In addition, safety zones 850 and 852 reflect a further combination of overlapping zones that include aligned and nonaligned headings.

[0200] During the occupant safety zone development process, the system may conduct periodic analysis and redundancy evaluations to ensure that results are accurate. For example, the system may primarily determine the polygons and then combinations based upon the evaluation from the perspective of the first path 702. At one or more steps in the analysis, the system may determine the polygons based on the second path 750 and compare the polygon sets for consistency or to identify potential errors or limitations.

[0201] The safety zones for each path 702 and 750 may be sorted in order of encounter for the planned path operation. The safety zones may also be labeled for reference by the system and / or the machines during implementation of the mission plan based on the paths 702 and 750. In some embodiments, the safety zones are stored in the system with assigned labels and the system separately stores order of encounter lists for each machine. In some embodiments, the safety zones are stored in the order of encounter for a machine with that machine's mission plan.

[0202] In some embodiments, the safety zones and order of encounter may be packaged with the mission plan for transmission to machines prior to operation. In other embodiments, the safety zones and / or order of encounter may be transmitted separate from the mission plan. The method and process for transmittal may vary based on transmission options and bandwidth availability. The machine processing system may conduct internal safety checks to ensure all features of the mission plan and predictive collision avoidance system have been received before executing a mission plan.

[0203] In some embodiments, the predictive collision avoidance system will generate one or more of the diagrams for review or reference. In other embodiments, the system may internally process each of the steps to develop the occupant safety zones without generating diagrams. The system may determine path development, intersection analysis, overlapping path polygonidentification, polygon combinations, heading analysis and safety zone generation consistent with the illustrated examples without diagram generation or display. The system will publish a set of safety zones for machine implementation in a format compatible with the machine processing system and machine characteristics.

[0204] In some embodiments, planning for a field having more than two machines with active paths may process the steps for all machines collectively to identify the safety occupant zones. For example, after applying edges to each machine's route to form paths, the system will identify all path segments that overlap between two or three paths. In such cases, the segments may significantly overlap between a first and second machine, while a third machine may only overlap with those segments in a limited manner. The identified polygon may reflect sections from the segments for all three paths. In addition, the system may identify multiple intersections that only apply to two machines while processing all three paths.

[0205] In some embodiments with multiple machines, the safety zones may be determined for each pair of machines independent of the other machines in the field. The identified zones will only relate to two machines. The system would also process each combination of machines. For example, in a three-machine operation, the system may separately process a first machine path with a second machine path, the first machine path with a third machine path, and the second machine path with the third machine path. Embodiments of the system may process the paths to generate safety zones in series or in parallel. In such embodiments, each machine may have multiple safety zones packets tailored to each of the other machines in the field that may interact. In some embodiments, a machine may have multiple safety zones located at or near the same location related to different machines. In some embodiments, no packet will be created if the analysis does not identify an intersection between the two machine's paths.

[0206] Figure 15 shows a portion of a project map for a field 900. In this embodiment, the illustrated section of the field has two active machines, first machine 902 and second machine 904. The field 900 is also shown with overlaid machine paths 910 - 916 and safety zones 920 - 924.

[0207] Each machine 902 and 904 is executing a mission plan in the field 900. For example, the machines 902 and 904 may be mowing the field 900. Each machine 902 and 904 includes a collision avoidance system. The collision avoidance system may include real-time perceptionbased collision avoidance and location-based collision avoidance systems. In some embodiments, a location-based collision avoidance system uses a dual safety bubble system andlocation exchange with other machines to determine real-time collision avoidance. In the embodiment shown, the first machine 902 is shown with an operational bubble 930 and an impact bubble 932, which may be location-based safety bubbles. In some embodiments, the operational bubble 930 may correspond to the travel risk bubble 612 and may incorporate the perception-based safety features. In addition, the impact bubble 932 may correspond to the radial risk bubble 602 and incorporate the perception-based safety features. The impact bubble 932 may be smaller than the operational bubble 930. In some embodiments, the impact bubble 932 is a fixed bubble shape configured to surround the machine 902, including any attachments, implements, or other features, with dimensions configured to ensure safe opportunities for machine 902 or other machines, such as machine 904, to stop without collisions.

[0208] In some embodiments, the operational bubble 930 reflects an advanced warning or safety feature by extending further from the location of the first machine 902. The operational bubble 930 may be variable to allow shifting the operational bubble 930 in the direction of travel. For example, the operational bubble 930 is shown further in front of the machine 902 traveling along the path 910 from left to right. As another example, the operational bubble 930 may extend further behind the machine 902 when traveling in a reverse direction. In some embodiments, the shape of the operational bubble 930 may also vary to follow changes in direction of travel. For example, the collision avoidance system for machine 902 may shift the operational bubble 930 to follow a defined path plan ahead of the current position of the machine 902. As another example, the operational bubble 930 may change shape based on the direction of the wheels of the machine 902.

[0209] Figures 16A-C illustrate varied safety bubble configurations based on machine operation. Each figure includes a machine 1002 with an implement 1004. The immediate space around the machine 1002 is shown as box 1006 in figure 16A. Similarly, the immediate space around the implement 1004 is shown as box 1008. These boxes 1006 and 1008 are used to determine the impact bubble 1010 illustrated in the figures 16A-C. In some embodiments, the remote mission planning system my determine the impact bubble 1010 for a machine configuration based on the immediate space around each item in the machine assembly selected for the project, such as the machine 1002 and the implement 1004, and a safety margin to prevent impact. In other embodiments, the machine 1002 may be programmed with a minimum impact bubble design, which may be modified broader to account for attached components, such as implement 1004. In some embodiments, onboard processing systems inthe machine 1002 may determine the impact bubble 1010. In some embodiments, the impact bubble 1010 may be based in part on mission fleet characteristics. For example, the calculated safety margin may be based in part on the speed and stopping distance for the machine 1002 and the speeds and stopping distances for other machines in the fleet for a mission.

[0210] These embodiments also show an operational bubble 1012 and variations of the operational bubble, 1012' and 1012", based on the state of the machine 1002. Figure 16A illustrates an example of the safety bubbles, shown as impact bubble 1010 and operational bubble 1012, for the machine 1002 at rest. In this embodiment, the machine 1002 and implement 1004 assembly is located at or near the center of the operational bubble 1012. For discussion, the forward space between the front of the impact bubble 1010 and the front of the operational bubble 1012 is at a forward distance 1014 and the rearward space between the back of the impact bubble 1010 and the back of the operational bubble 1012 is at a backward distance 1016. In this embodiment, the forward distance 1014 and backward distance 1016 are approximately the same. In addition, the side distance 1018 is approximately the same for each side of the impact bubble 1010.

[0211] Figure 16B illustrates the safety bubbles for the machine 1002 moving in a forward direction. During the forward movement, the impact bubble 1010 remains the same and the operational bubble 1012' is modified in this embodiment. The operational bubble 1012' shows the backward distance 1016' significantly reduced from the backward distance 1016 when the machine 1002 was at rest in figure 16A. This backward distance 1016' may be reduced because the likelihood of a collision situation is lower from behind the moving machine 1002. The forward distance 1014' is approximately the same in this embodiment as the forward distance 1014. In some embodiments, the forward distance 1014' may increase as the speed increases or to account for mission parameters. The side distance 1018' has narrowed with the forward motion of the machine 1002. The side distance 1018' may narrow because the movement of the machine 1002 reduces the collision risk associated with the operational bubble 1012' from a side encounter.

[0212] Figure 16C illustrates the safety bubbles for the machine 1002 moving in a backward direction. In this embodiment, the impact bubble 1010 remains the same and the operational bubble 1012" is modified. The operational bubble 1012" shows the forward distance 1014" significantly reduced from the forward distance 1014. This forward distance 1014" may be reduced because the likelihood of a collision situation is lower from the front when the machine1002 is moving backward. In this embodiment, the backward distance 1016" is approximately the same as the backward distance 1016. In some embodiments, the backward distance 1016" may vary based on operation or mission parameters. The side distance 1018" has narrowed with the motion of the machine 1002. The side distance 1018" may narrow because the movement of the machine 1002 reduces the collision risk associated with the operational bubble 1012" from a side encounter.

[0213] In some embodiments, the configuration of the operational bubble 1012 may transition between states as the machine 1002 movement changes. For example, when the machine 1002 starts at rest as illustrated in figure 16A and then moves forward as illustrated in figure 16B, the operational bubble 1012 may transition through intermediate configurations before reaching the movement configuration shown as operational bubble 1012'. As the machine 1002's speed increases the backward distance 1016 may transition in a correlated manner to the backward distance 1016'. Similarly, the side distance 1018 may narrow to the side distance 1018'. In some embodiments, the transition may be a smooth correlation with changes directly tied to speed changes. In some embodiments, the process may involve a preset transition process that ties changes to predefined speed ranges. Similarly, the transition from operational bubble 1012' in forward motion to the resting position operational bubble 1012 may be tailored for a smooth or staggered transition. Finally, transitions to the backward motion configuration for the machine 1002 may be staggered or smooth.

[0214] The operational bubble 1012 may also vary based on other features or operations. For example, the operational bubble 1012 may curve or angle based on steering changes. As another example, the operational bubble 1012 may change between active implement operations and inactive travel.

[0215] In the embodiment shown in figure 15, the second machine 904 is also shown with an operational bubble 934 and an impact bubble 936. In some embodiments, the impact bubbles 932 and 936 are tailored to the characteristics of the corresponding machine 902 and 904. For example, the impact bubble 936 of the second machine 904 is illustrated narrower than the impact bubble 932 of the first machine 902 because the size and operating characteristics of the second machine 904 result in a narrower space to provide safety. For example, if the second machine 904 is a tractor with a larger turn radius, a narrow impact bubble 936 will be effective because sudden direction changes are not practical. In contrast, the first machine 902 may have a zero-degree turn radius allowing sudden and significant direction changes. In such cases, awider impact bubble 932 may be beneficial to account for the risk of direction changes. As another example, an implement attached to the second machine 904 may be narrower than an implement attached to the first machine 902. In the embodiment shown, the impact bubbles 932 and 936 and the operational bubbles 930 and 934 are rectangular. In other embodiments, the shape may be elliptical, round, alternative polygons or an abstract shape based in part upon the relevant machine. In some embodiments, the impact bubble or operational bubble may be tied to the mission plan.

[0216] During operation, the machines 902 and 904 use the operational and impact bubbles 930 - 936 to increase safety and avoid collisions. In some embodiments, parameters of the operational and impact bubbles 930 - 936 are tied to the location of the machine 902 or 904. For example, the impact bubble 932 may be a defined rectangle with sides a specific distance forward, backward, right and left of a location point associated with the first machine 902. In some embodiments, the parameters of the impact bubble 932 and the operational bubble 930 may be adjusted for the current location of the first machine 902. The current location and current state of the operational and impact bubbles 930 and 932 of the first machine 902 may be shared with the second machine 904. The second machine 904 may also calculate the current location and state of the operational and impact bubbles 934 and 936 to share with the first machine 902.

[0217] During operation, the first machine 902 continues to evaluate if there is any overlap between its own operational bubble 930 and either the operational bubble 934 or the impact bubble 936 of the second machine 904. Similarly, the second machine 904 continues to evaluate if there is any overlap of its own operational bubble 934 and either the operational bubble 930 or the impact bubble 932 of the first machine 902. In some embodiments, if the first machine 902 determined that its operational bubble 930 overlaps one of the operational or impact bubbles 934 and 936 of the second machine 904, the first machine 902 may stop. In such embodiments, the first machine 902 should be able to conduct a smooth stop based on the lead warning from the operational bubble 930 instead of an emergency stop.

[0218] In some embodiments, the first machine 902 may respond differently between an overlap with the second machine 904 at the operational bubble 934 rather than the impact bubble 936. For example, an overlap with the impact bubble 936 may result in a safe stop while an overlap with the operational bubble 934 may result in a slowing process and communication with the second machine 904 regarding the machine priority. The machine with the highermachine priority may proceed while the other machine slows down or stops to allow the priority machine to pass. This priority process may be permissible because the operational bubble 934 allows sufficient time to determine the machine priority and still have the safe stop to allow a priority machine to pass. Machine priority may be predefined, in some embodiments, to allow a specific machine to proceed if safe to do so. In other embodiments, the machine priority may be determined based on other factors, such as proximity to the point of intersection, current operation status, and other considerations. For example, if the first and second machines 902 and 904 have intersecting operational bubbles 930 and 934, the first and second machines 902 and 904 may determine that based on machine operating speeds and proximity to the route intersection, the first machine 902 will arrive at the intersection first and will be given priority over the second machine 904. The second machine 904 will slow or pause operations to allow the first machine 902 to pass safely before the second machine 904 proceeds. This type of priority selection may be configured to minimize operational delays for the first and second machines 902 and 904 collectively.

[0219] During operation, the first and second machines 902 and 904 may periodically share their operational and impact bubbles 930 - 936 with each other. The communication may be over a direct communication system selected for the environment and operations. For example, the machines may use a local communication protocol for short-range communications. For field communications, some machines may use a mid-range communication protocol. In some embodiments, the machines may use a cellular or long-range communication protocol. In long- range communication systems, a network evaluation and monitoring system may be used to manage machine safety. In preferred embodiments, real-time or near real-time machine-to- machine communication is used to avoid unnecessary latency. In some embodiments, the machines may broadcast location and / or safety bubble information for any other machine to receive in the area.

[0220] In some embodiments, the periodic timing for communications is directly related to the operational bubble configuration. For example, the leading edge of the operational bubble may be determined by the time period for communications to ensure that a collision cannot occur between communications. The leading edge of the operational bubble may be based on the machine speed and periodic communication time plus a safety margin, which may relate to stop timelines and distances. In some embodiments, the communication period may be variable based on the machine speed in context to the operational bubble. In some embodiments, thecommunication period and the operational bubble lead distance may be variable to account for speed and safety.

[0221] In some embodiments, the machines 902 and 904 may exchange initial information when beginning an operation. In some embodiments, the mission plan or collision avoidance information received by the machines 902 and 904 may include information about the other machines operating in the field 900. For example, first machine 902 may receive information regarding second machine 904. In some embodiments, the pre-exchanged information may include machine identification data, machine communication data, machine bubble characteristics and / or other data. The machine bubble information may include parameter definitions related to the machine location. In such embodiments, each machine 902 and 904 may only need to transmit current location and heading for the other machine to calculate and evaluate the bubbles 930 - 936. For example, the second machine 904 may receive the current location and heading of the first machine 902 through a direct communication channel. The second machine 904 may use the pre-exchanged bubble information and the current location of the first machine 902 to determine the safety bubble 932 of the first machine 902. The second machine 904 may use the location and heading to determine the operational bubble 930 of the first machine 902.

[0222] During operation, the machines 902 and 904 may be exchanging information with multiple machines operating in the field 900. The bubbles and potential overlaps may be evaluated for a plurality of machines serially or in parallel. In some embodiments, a fleet operating in a field may be configured to stagger communications to limit interference and manage processing requirements and communication bandwidths.

[0223] In some embodiments, impact and operational bubbles may be used with other collision avoidance systems, including perception systems and predictive collision avoidance systems. In the embodiment shown, the collision avoidance system in each machine 902 and 904 also accounts for predicted safety zones related to at least the two machines 902 and 904. In some embodiments, the predicted safety zones in the field 900, including safety zones 920 - 924.

[0224] In this embodiment, the first safety zone 920 is associated with path 910, path 912 and path 916. The shape of the first safety zone 920 includes the combination of a rectangular section associated with the intersection 918 of the paths 910 and 912 and a curved section following the path 910 running past the top of and then adjacent to path 916. The second safety zone 922 relates to a turn in path 914 running adjacent to the path 910.

[0225] In the embodiment shown, the safety zones 920 - 924 are shown and associated with the path 910 and shown with different outlines related to the status of the predicted safety zone and current machine location. For example, safety zone 920 is shown with a solid darkened line indicating the first machine 902 is occupying the safety zone 920 and the second machine 904 is locked out of the zone at this time. The second safety zone 922 is shown with dashed lines indicating that the first machine 902 is still intersecting the safety zone 922. The third safety zone 924 is a light solid line indicating that the safety zone 924 is not occupied.

[0226] In some embodiments, these display characteristics reflect operations occurring in the machine interactions. The occupancy and lockout conditions for each zone may be shared between the first machine 902 and the second machine 904 by machine communication systems and / or remote monitoring systems. For example, when the first machine 902 enters the safety zone 922, the first machine 902 notifies the second machine 904 that the safety zone 922 is occupied. Similarly, when the first machine 902 leaves the safety zone 922, the first machine 902 notifies the second machine 904 that the safety zone 922 is not occupied. The second machine 904 would send notifications on entry and exit of safety zones to the first machine 902. In some embodiments, the machines 902 and 904 determine entry and exit of a safety zone based on the machine location. In some embodiments, the machines 902 and 904 determine entry and exit of a safety zone based on a bubble around the machine, such as an impact bubble or operational bubble.

[0227] In this embodiment, the first machine 902 is travelling from left to right across the field 900 along the path 910. Similarly, the second machine 904 is travelling from the bottom to the top across the field 900 along the path 912. The paths 910 and 912 intersect at intersection point 918. In the embodiment shown, both machines 902 and 904 are approaching the intersection 918, which is within the predicted safety zone 920. The first machine 902 has entered the safety zone 920 ahead of the second machine 904. When the first machine 902 entered the safety zone 920, the first machine 902 may send a communication directly to the second machine 904 indicating that safety zone 920 is occupied. When the second machine 904 reaches the safety zone 920, the second machine 904 stops, which is indicated by the lockout shading of safety zone 920 in this embodiment. In some embodiments, the second machine 904 may wait for an exit notice from the first machine 902 prior to proceeding into the safety zone920.

[0228] In some embodiments, the second machine 904 may conduct a prediction test to determine when it is safe to proceed. The second machine 904 will use the path plan for the first machine 902 passing through the safety zone 920 to conduct the prediction test. In some embodiments, the second machine 904 may receive the first machine 902's path plan relevant to the safety zone 920 with the notice that the safety zone 920 is occupied. In other embodiments, the second machine 904 may receive the first machine 902's path plans relevant to mutual safety zones, including the safety zone 920, during the setup process with the receipt of safety zones and mission plans. In such embodiments, the second machine 904 will simulate steps through the path plan at predesigned intervals for each of the first machine 902 and second machine 904 to determine if the second machine 904 proceeded through the safety zone 920, would the machines 902 and 904 collide at any point along the simulated intervals. If a collision may occur, then the second machine 904 continues to wait and reevaluates the simulation. In this embodiment, once the second machine 904 stops, the initial simulated prediction test would likely indicate a potential collision based on their currently depicted positions. At a sufficient distance after the first machine 902 passes the intersection 918, the prediction test simulation would indicate that the machines 902 and 904 would not collide if the second machine 904 proceeds. When the simulation indicates a collision will not occur, the second machine 904 may proceed through the safety zone 920. In this situation, both machines 902 and 904 may be operating within the same safety zone 920 without risk of collision or lockout.

[0229] In some embodiments, each machine 902 and 904 receives time from a synchronized source. In other embodiments, the machines 902 and 904 may synchronize clocks or use a clock offset correction to time-synchronize communications. The synchronized time may be used for each machine 902 and 904 to calculate the entry and exit of a safety zone by each machine 902 and 904. For example, when the second machine 904 receives notice that the first machine 902 entered the safety zone 920, the second machine 904 will use the time of entry from the notice to determine a current location of the first machine 902 for the prediction test. This time may also be used for any priority evaluation if the machines 902 and 904 are determining which machine 902 or 904 has priority to proceed.

[0230] In some embodiments, the first machine 902 may send a zone entry notification to a remote monitoring system over a long-range communication network, such as the cellular network, when the first machine 902 enters the safety zone 920. The remote monitoring systemmay track the location of the first machine 902 through real-time or near real-time communication within the safety zone 920. When the second machine 904 approaches the safety zone 920, the second machine 904 may send a location notification to the remote monitoring system to enter real-time or near real-time communication protocols. The remote monitoring system may then conduct the prediction test for the first machine 902 and the second machine 904 to determine the risk of collision and send a proceed communication to the second machine 904 when the prediction test determines the machines 902 and 904 will not collide. In this embodiment, the second machine 904 may pause outside the safety zone 920 until it receives the proceed communication from the remote monitoring system. In some embodiments, the remote monitoring system may conduct a prediction test with a safety threshold to account for any communication timing differences with the first machine 902's communication system and second machine 904's communication system. In some embodiments, the remote monitoring system may be integrated with or associated with the mission planning or predictive collision avoidance system.

[0231] In some embodiments, the predictive collision avoidance system may evaluate one or more safety guidelines for each safety zone that account for machine entry location, time, and speed to determine delays for second machine entry at specific locations. These safety guideline delays may be sent with the safety zones to each machine to provide advance guidelines for processing a prediction test during operation. For example, the second machine may identify the guideline delay and wait to process the prediction test with real-time information until the delay has passed.

[0232] In some embodiments, each safety zone is associated with only two machines regardless of the number of machines operating in the field. In such embodiments, the safety zone will only cause those two machines to send notices and respond with safety steps, such as stopping outside the safety zone. Other machines may be free to pass through all or part of the safety zone. In some embodiments, other machines may be subject to alternative safety zones associated with one other machine. These alternative safety zones may overlap with safety zones for the first two machines. As an example, safety zone 920 may apply solely to first machine 902 and second machine 904. A third machine may be unaffected by the safety zone 920 regardless of operation and position. However, the third machine may have a safety zone assigned that is related to the first machine and process collision avoidance relative to its safetyzone through communication and evaluation relative to the first machine 902. In some embodiments, the third machine safety zone may overlap with the safety zone 920.

[0233] In some embodiments, the prediction test may be implemented for manually generated safety zones. In such embodiments, the first machine that enters a manually generated safety zone will publish a path plan and speed through the safety zone for other machines to evaluate against. When a second machine reaches the safety zone, the second machine will conduct a prediction test based on the second machine's path plan through the safety zone and the first machine's remaining progress through the safety zone. In some embodiments, these path plans may be predefined by a mission planning system. In other embodiments, the path plans may be actively selected through the machine automation system or a remote oversight system in communication with the machines. In some embodiments, the manually defined safety zone may be a trigger for multiple machines associated with the site. As an example, a work site having multiple machines that repeatedly enter and exit a location to deliver or remove materials may not have preexisting path plans. Each time they enter the zone, the machine will determine the path plan to and from the material along with timing for the path plan. This determined information may be published to manage entry on all other machines if a collision risk exists.

[0234] In some embodiments, the prediction test may be used for a path planned site without safety zones. In such embodiments, the machines may iteratively conduct prediction tests with other site machines as they approach direction changes. The predictions test may require the test to pass through the next direction change or until they enter an unoccupied area of the site without a collision risk. As those skilled in the art will recognize, the prediction test may allow safe operation in broader areas without requiring specific safety zones. In such systems, the predictive collision avoidance process to identify specific safety zones may be limited or eliminated. Alternatively, systems operating with specific safety zones for the prediction test may limit the on-machine processing requirements by limiting the scope of the test to a smaller area.

[0235] In some embodiments, the machines 902 and 904 periodically communicate the current safety zone status to indicate all safety zones that the machine 902 or 904 is occupying. This periodic notice may be sent at a high frequency to eliminate the need for special notifications on entry and exit of safety zones. In such embodiments, the frequency may be set based on the safety zone configuration and size to ensure sufficient stopping distances. In otherembodiments, the machine may use a bubble, such as the operational bubble, to indicate occupancy within a zone. In other words, the machine may be considered to occupy a safety zone if any of its operational bubble is within the safety zone. In such embodiments, the notice frequency and operational bubble lead distance may be correlated to ensure safety.

[0236] In some embodiments, the periodic notice is an activity confirmation to ensure communication systems are properly operating. In such embodiments, the periodic notice may be a set time from the last provided notice. For example, if the machine has not communicated an entry or exit notice within the past three seconds, a status update notice is provided.

[0237] In some embodiments, the entry notice or periodic notice when a machine is within a safety zone may include the identification for the safety zone, the entry time and an array of vertices reflecting the machine's planned path through the safety zone. Each vertex may represent a period of travel, such as 1 second, at the machine's travel speed. In some embodiments, vertices may be represented by a set of floating positions based on the entry location of the machine. In some embodiments, alternative travel representations may be shared in conjunction with or in place of the vertices. For example, the machine may provide location prediction points through the safety zone. As another example, the machine may provide a series of location points with arrival or departure times for the machine.

[0238] During operation, each machine also evaluates any safety zone occupancy conflict. In some embodiments, each machine will evaluate safety zone occupancy upon receipt of an entry notice or other notice from another machine. In some embodiments, each machine will evaluate safety zone occupancy each time that it transmits a periodic occupancy notice. In evaluating the safety zone occupancy, the machine may determine if another machine associated with the safety zone is within the same safety zone. If not, the machine may continue without further evaluation at this time.

[0239] If another machine is in the same safety zone, the machine may compare its entry time with the other machine's entry time. When the machine entered the safety zone first, it may proceed as a default response. If the machine is not the first to enter the safety zone, the default response may be to stop moving. In some embodiments, the safety zone and / or leading bubble may provide sufficient time for the machine to evaluate a prediction test to determine if simultaneous operation is allowed in the safety zone. If both machines have the same entry time to the safety zone, the machines may determine machine priority. Machine priority may be based on assigned mission priority, effect on further machine assignments, timing interferencewith other machines in the field, overlapping safety zone effects, and / or other reasons. In some embodiments, the machines may consider any time within a threshold time difference the same time. For example, if entry times are within two seconds they are considered the same entry time. In some embodiments, the time difference may be based on clock synchronization and transmission latency.

[0240] In some embodiments, the system does not require transmitting entry time information for priority determinations. For example, a fleet system using a remote monitoring system may allow the remote server to provide semaphore locking. The server may determine and communicate fleet instructions to allow movement of priority machines and pause other machines when a risk of collision exists in a safety zone. In some embodiments, the machine communication may use remote procedure calls to manage safety zone entry conflicts and facilitate priority determinations. For example, two machines arriving at the same safety zone at approximately the same time may send remote procedure calls that are configured to initiate a response signal confirming receipt of the notice. If a machine receives a remote procedure call when the machine is reaching the same safety zone, the procedure may trigger a priority determination with the original machine. The response signal may require the original machine to send priority information for analysis prior to entering the safety zone. In such an embodiment, one machine may evaluate the priority information and determine which machine proceeds in the safety zone first, and the evaluating machine will send a signal clarifying each machine's role.

[0241] In a fleet system, the other machine would also be evaluating the safety zone occupancy and should respond with the corresponding action. For example, if the first machine 902 has the earlier entry time and determines that it should continue moving, the second machine 904 should determine that it has a later entry time and should stop and / or conduct a prediction test.

[0242] In some embodiments, the machine that enters second or has a lower priority will conduct a prediction test to determine if it may continue moving through the safety zone or needs to stop until the prediction test passes to allow it to resume operation through the safety zone. In some embodiments, the second machine 904 conducting the prediction test may take the entry time and vertices from the first machine 902 and synchronize the vertices with the second machine 904 vertices to simulate stepping each machine through the safety zone to determine if the machines 902 and 904 are likely to collide. The system may determine that any two concurrent locations within a set proximity distance will be considered a likely collision. Ifthe first simulation shows a potential collision, the second machine 904 may wait a default delay and then reconduct the prediction test with a new synchronization based on the delay. The second machine 904 may repeat this process until the prediction test indicates that no collisions are likely in the safety zone.

[0243] In some embodiments, a fleet of machines may have mission plans and safety zones assigned and received prior to field entry. For example, each machine may receive path plans for the other machines when the mission plan and safety zones are dispatched to the machine. This dispatch may be through a remote communication system, a local upload or another system. When the machines enter the field, together or separately, the machines may conduct an initial communication for synchronization. In some embodiments, when a machine receives an occupant notice from another machine, the machine may first process a safety analysis for collision avoidance based on current occupancy conditions. Once safe operation is confirmed, the machine may determine if the safety zone notice further indicates that one or more other safety zones are no longer applicable. For example, if a first machine is following the route 710 through the field 700 in figure 14 and the second machine provides a notice of occupancy for safety zone 852, the first machine may determine that safety zones 806, 808 and 832 are no longer relevant and may be ignored. In such embodiments, the safety zone information received by each machine may include order of encounter information for both machines. Each machine may confirm that a safety zone will not be encountered again by the other machine prior to ignoring any safety zone.

[0244] Figure 17 illustrates a working machine operation flowchart for safety zone management. This flowchart is for machines having received mission plans and safety zone information from a mission planning system. The mission plan and safety zone information may be received by each machine through local or remote network communication systems, local upload or through other upload operations. For example, a first machine may receive the first mission plan and safety zone information via the cellular communication network and second machine may receive the second mission plan and safety zone information from a local computer over a BLUETOOTH communication link. The process will be discussed from the perspective of the primary working machine, which simply identifies perspective for evaluation. Each machine in the multiparty project may be a primary machine for the mission plan it implements and a secondary or other machine from the perspective of the remaining machines in the project. This embodiment describes the process in the context of each safety zoneassociated with two machines. As discussed herein, the process may be expanded to accommodate multiple machines associated with the same safety zones or multiple safety zones may overlap to have active evaluates for multiple machine interactions in the same area.

[0245] In this embodiment, the machines conduct periodic evaluation for safety zones while conducting the overall mission plan. In decision box 1102, the primary working machine automation controller or other safety monitoring system will determine whether a zone entry notice has been received from another machine through the communication system. The zone entry notice may include a safety zone identification, an entry indicator and a zone path plan in some embodiments. These may be encoded into the frequency signal for the active communication protocols and bandwidth for the site. In some embodiments, the zone path plans for other machines may be communicated with the safety zones during the initial mission planning installation. In such embodiments, the zone path plan may not be transmitted with the zone entry notice.

[0246] If a zone entry notice has not been received for decision box 1102, the process will proceed to decision box 1114. In decision box 1114, the primary working machine will determine if it has entered a safety zone. For example, the primary working machine may use a location determination component, such as a GPS system, a geospatial referencing system, path tracking (using the path plan and machine movement, other location determination systems. If the primary machine has not entered a safety zone, the primary machine continues to check for receipt of a zone entry notice in decision box 1102 and the entry of a safety zone by the primary working machine in decision box 1114. These decision processes may continually check for safety zone interactions while the primary working machine conducts the mission plan.

[0247] If the analysis in decision box 1102 determines that a zone entry notice has been received, the process will proceed to box 1104. Wherein the primary working machine will pause prior to entering the applicable safety zone. For example, the primary working machine will pause movement along the path plan outside the applicable safety zone. In some embodiments, the primary working machine may also pause additional operations, such as an implement operation while the machine's movement is paused. Based on the received notice, the primary machine may pause immediately if the primary working machine is approaching the same safety zone. The primary machine may continue the mission plan operations and movement until it approaches a threshold proximity to the safety zone on the path plan.

[0248] In box 1106, the primary working machine confirms the receipt of the zone path plan for the machine that sent the zone entry notice. This may occur as a communication from the other machine with the zone entry notice. In some embodiments, the zone path plan for the other machine may have been received at an earlier stage, such as the mission plan loading stage, a field initialization stage or another stage facilitating communication between the machines or from a remote communication system. If the zone path plan was not received, the primary working machine may send a communication requesting the zone path plan for the other machine. This request may be direct to the other machine or to a remote operation system, such as the mission planning system. If the primary working machine does not have the zone path plan for the other machine, the primary working machine will not conduct a prediction test or will consider the test failed.

[0249] In box 1108, the primary working machine determines if a zone clear notice from the same machine that sent the zone entry notice has been received. This may occur while the primary machine is paused or proceeding to the pause location prior to entering the safety zone. During this process, the primary machine continues to monitor communications that may be related to the same or other safety zones (as well as other information). If the zone clear notice has not been received, the primary working machine continues to reevaluate if the primary working machine is able to proceed based on a zone clear notice determination in box 1108 or a prediction test pass determination in box 1110.

[0250] In box 1110, the primary working machine determines if a prediction test has been passed to indicate that the primary working machine may safely proceed through the safety zone without risk of collision. In some embodiments, the primary working machine conducts the prediction test using the current location, zone path plan and speed of the other machine and the primary working machine to simulate each machine's movement through the safety zone. As discussed herein, the simulation may determine each machine's movement and position in increments for evaluating potential collision risks. If the simulation reaches a position with the two machines within a threshold proximity, the prediction test will indicate a potential for collision and fail. If the two machines do not enter the threshold proximity during the simulation, the prediction test will pass. The primary working machine will continues to reevaluate if the primary working machine is able to proceed based on a zone clear notice determination in box 1108 or a prediction test pass determination in box 1110.

[0251] In some embodiments, the primary working machine may conduct a prediction test simulation from a preexisting known location for the other machine that is time-synchronized with a known location for the primary working machine. This may allow the primary working machine to account for communication delays or outages between the machines. This alternative may be limited to known locations within a set timeframe to limit likelihood of errors or malfunction risks. For example, the primary working machine may have received a communication from the other machine, which is in the zone, indicating a then-current location. The primary working machine may determine the time at which the communication was received and confirm that the time is within an approved limit, such as within the prior five seconds. The primary working machine may then determine primacy working machine's location at the same time. In some embodiments, the time may be shifted for communication transmission times. In some embodiments, the threshold proximity creates allowances for any transmission time offsets. Once the primary working machine determines time-synchronized locations, the primary working machine may proceed with the prediction test simulation from that point.

[0252] In some embodiments, a remote monitoring system may conduct the prediction test based on communications from the primary working machine and the other machine to identify and synchronize location and time for the simulation. The primary working machine will consider the prediction test a fail until the primary working machine receives a prediction test pass signal from the remote monitoring system in such embodiments. In some embodiments, the remote monitoring system may manage determination of machine priority as well as the prediction test for a paused machine.

[0253] In box 1112, the primary working machine proceeds into the safety zone after receiving a zone clear notice or the prediction test is passed. If the primary machine was paused, the primary working machine may restart one or more operations that may have been paused with the movement. In some embodiments, the mission plan includes specific pause protocols and resume protocols to ensure operations are efficient and effective. After the primary working machine completes this pause process to allow another machine to pass through the safety zone, the process continues to evaluate if any other zone entry notices have been received in box 1102.

[0254] In some embodiments, multiple safety zone processes may be active simultaneously. For example, while addressing a notice related to a first safety zone by a second machine, theprimary machine may receive a notice of a third machine entering a second safety zone. In such cases, the primary machine may end up pausing for the initial safety zone it reaches that has an applicable notice. In such cases, the primary machine may end up pausing for a prediction test pass or zone clear notice for each of the second and third machines.

[0255] If the analysis in decision box 1114 determines that the primary machine has entered a safety zone, the process continues from decision box 1114 to box 1116. In box 1116, the primary machine will send a zone entry notice and zone path plan. As discussed herein, the zone path plan may be optional in systems that have already distributed the machine's zone path plans during earlier uploads or communications. In some embodiments, the primary machine may send a direct communication to other machines associated with the same safety zone. In some embodiments, the primary machine will broadcast the zone entry notice. In some embodiments, the primary machine may send the zone entry notice to a remote monitoring system for further evaluation. In some embodiments, the notice may be sent as a remote procedure call requiring a confirmation to ensure priority assignment in the event two machines reach the safety zone at the same time. In such embodiment, if a zone entry notice is received while awaiting a confirmation for the remote procedure call, the primary working machine will determine that a priority evaluation is required and further exchange priority information as needed to determine which machine proceeds into the safety zone first.

[0256] After sending the zone entry notice and potentially receiving notice receipts, the primary working machine proceeds through the safety zone along the path plan in box 1118. The primary working machine may proceed through the safety zone while continuing to monitor for other notices and with the real-time collision avoidance system monitoring for risks that were not predicted by the PCAS.

[0257] If the primary machine proceeds into the safety zone following a pause, the zone entry notice may be sent with the primary machine proceeding into the safety zone. In addition, the primary machine may also issue a zone clear notice after proceeding through the safety zone. In some embodiments, safety zones may be associated with multiple passes through the safety zone by the same machine or multiple machines.

[0258] In box 1120, the primary machine sends a zone clear notice. As with the zone entry notice, this zone clear notice may be sent directly to select machines, broadcast to other machines in the vicinity or provided to a remote monitoring system. Once clear of the safetyzone, the process illustrates the ongoing monitoring for zone entry notices from other machines and entering a safety zone by the primary machine in decision boxes 1102 and 1114.

[0259] In some embodiments, a management system for a plurality of working machines includes a networked server system, a first working machine and a second working machine. The networked server system may include a server communication card configured to communicate over a communication network, a server memory, and a server controller operatively connected to the server communication card and the server memory. The server controller may be configured to manage the server memory and communication over the server communication card.

[0260] Embodiments of the first working machine may include a first application gateway having a first communication card, a first machine control unit having a first processor and a first memory, a first machine actuator system having a first machine control actuator, and a first automation sensor. The first communication card may be configured to communicate over the communication network with the server communication card. The first memory may store first machine operating instructions. Embodiments of the second working machine may include a second application gateway having a second communication card, a second machine control unit having a second processor and a second memory, a second machine actuator system having a second machine control actuator, and a second automation sensor. The second communication card may be configured to communicate over the communication network with the server communication card. The second memory may store second machine operating instructions.

[0261] In some embodiments, the server controller may initiate a PCAS, which receives a first machine route and a second machine route. The PCAS may generate a first machine path plan based on the first machine route and a first machine operational dimension. The PCAS may also generate a second machine path plan based on the second machine route and a second machine operational dimension. The PCAS may analyze the first machine path plan and the second machine path plan to determine an area of overlap between the first machine path plan and the second machine path plan. The area of overlap may form an intersection polygon. The PCAS may generate a safety zone based on the intersection polygon.

[0262] Embodiments of a mission planning system of the networked server may generate a first mission plan for the first working machine which includes the first machine path plan, the safety zone and operation instructions for the first working machine. The mission planning system mayalso generate a second mission plan for the second working machine which includes the second machine path plan, the safety zone and operation instructions for the second working machine. The server controller may send the first mission plan to the first working machine via the communication network and the second mission plan to the second working machine via the communication network.

[0263] During operation, the first working machine and the second working machine may transmit notices based on the safety zone and receive notices based on the safety zone. When the first working machine receives a second machine zone entry notice from the second working machine, the first working machine may conduct a current safety analysis. The current safety analysis may be based on the second machine zone entry notice and a current status of the first working machine prior to entering the safety zone. The first working machine may not enter the safety zone if the current safety analysis indicates a current potential collision.

[0264] In some embodiments, the PCAS may further generate the first machine path plan by determining first machine offset edges for the first machine path plan from the first machine operational dimension. The PCAS may also generate the second machine path plan by determining second machine offset edges for the second machine path plan from the second machine operational dimension. In some embodiments, the PCAS may determine a plurality of areas of overlap, which include the area of overlap. Each of the plurality of areas of overlap may form one of a plurality of intersection polygons, including the intersection polygon.

[0265] In some embodiments, the PCAS may generate first machine path plan segments and second machine path plan segments. The PCAS may analyze the first machine path plan segments and the second machine path plan segments to determine the intersection polygon. The PCAS may determine a plurality of areas of overlap, which include the area of overlap. Each of the plurality of areas of overlap form one of a plurality of intersection polygons, including the intersection polygon. Each of the plurality of intersection polygons may be associated with one of the first machine path plan segments and one of the second machine path plan segments. The PCAS may also evaluate the plurality of intersection polygons to identify overlapping intersection polygons. The PCAS may combine the overlapping intersection polygons to form the safety zone.

[0266] Each of the plurality of intersection polygons may be evaluated by the PCAS to identify nonaligned travel intersection polygons. Nonaligned travel intersection polygons may be identified when the first working machine and the second working machine have nonalignedtravel headings within the nonaligned travel intersection polygons. The PCAS may evaluate the nonaligned travel intersection polygons to identify overlapping intersection polygons and combine the overlapping intersection polygons to form the safety zone.

[0267] In some embodiments, the PCAS may be integrated with the mission planning system of the networked server. The second working machine may send a broadcast communication containing the second machine zone entry notice in some embodiments. Each working machine of the plurality of working machines that are associated with the safety zone may temporarily pause prior to entering the safety zone. In some embodiments, the second working machine may transmit a second machine zone clear notice when the second working machine leaves the safety zone. The first working machine may proceed into the safety zone after receiving the second machine zone clear notice.

[0268] In some embodiments, the second working machine may send a communication containing the second machine zone entry notice to the first working machine. The first working machine may conduct a safe entry simulation to confirm whether the first working machine may proceed without collision risk in the safety zone prior to entering the safety zone. The safe entry simulation may include the first working machine simulating movement of the first working machine and the second working machine from known locations at a synced time. The first working machine simulation may confirm that the simulated locations remain at least a minimum distance apart. The second machine zone entry notice may include an entry location, an entry time and a travel path through the safety zone.

[0269] In some embodiments, a primary working machine operating within a fleet management system may have a PCAS. The primary working machine may include a communication gateway and an automated control system. The communication gateway may include a wireless communication card which provides communication over a wireless communication network. The communication device may be configured to communicate with a second working machine that comprises a second wireless communication card. The automated control system may manage operations of the primary working machine based on a mission plan received from a mission planning system. The mission plan may include a primary working machine path plan for the primary working machine and a safety zone. The safety zone may be based on an evaluation of the primary working machine path plan and a second working machine path plan and at least one intersection polygon generated from overlapping portions of the primary working machine path plan and the second working machine path plan.

[0270] During execution of the mission plan, the automated control system may execute instructions to direct the primary working machine along the primary working machine path plan. The automated control system may also track a primary working machine location. When the automated control system determines the primary working machine location enters the safety zone, the automated control system may send a primary working machine zone entry notice via the communication gateway. When the automated control system receives a secondary working machine zone entry notice through the communication gateway, the automated control system may conduct a safe entry simulation. The safe entry simulation may confirm that the primary working machine may proceed without collision risk in the safety zone prior to entering the safety zone.

[0271] In some embodiments, the safety zone may be determined as a combination of overlapping intersection polygons. The overlapping intersection polygons may include the intersection polygon. The overlapping intersection polygons may be based on nonaligned travel headings within each of the overlapping intersection polygons.

[0272] Some embodiments of the mission plan may include a plurality of safety zones, including the safety zone. Each identified safety zone of the plurality of safety zones may be associated with the primary working machine and a second working machine. In some embodiments, at least one identified safety zone of the plurality of safety zones may also be associated with a third working machine. In some embodiments, at least one identified safety zone of the plurality of safety zones may be associated with the primary working machine and a third working machine.

[0273] In some embodiments, the primary working machine may include a collision avoidance system using an impact bubble around the primary working machine for proximate potential risks and an operational bubble extending beyond the impact bubble along a direction of travel for distant potential risks. The distant potential risks may include potential risks that are beyond the proximate potential risks. The primary working machine may also receive a second impact bubble and a second operational bubble from a second working machine. The primary working machine may compare the impact bubble and the operational bubble with the second impact bubble and the second operational bubble to identify any overlap. The primary working machine may also determine whether to modify operations based on a determined overlap.

[0274] Most of the equipment discussed above comprises hardware and associated software. For example, the typical working machine is likely to include one or more processors andsoftware executable on those processors to carry out the operations described. We use the term software herein in its commonly understood sense to refer to programs or routines (subroutines, objects, plug-ins, etc.), as well as data, usable by a machine or processor. As is well known, computer programs generally comprise instructions that are stored in machine- readable or computer-readable storage media. Some embodiments of the present invention may include executable programs or instructions that are stored in machine-readable or computer-readable storage media, such as a digital memory. We do not imply that a "computer" in the conventional sense is required in any particular embodiment. For example, various processors, embedded or otherwise, may be used in equipment such as the components described herein.

[0275] Memory for storing software again is well known. In some embodiments, memory associated with a given processor may be stored in the same physical device as the processor ("on-board" memory); for example, RAM or FLASH memory disposed within an integrated circuit microprocessor or the like. In other examples, the memory comprises an independent device, such as an external disk drive, storage array, or portable FLASH key fob. In such cases, the memory becomes "associated" with the digital processor when the two are operatively coupled together, or in communication with each other, for example by an I / O port, network connection, etc. such that the processor can read a file stored on the memory. Associated memory may be "read only" by design (ROM) or by virtue of permission settings, or not. Other examples include but are not limited to WORM, EPROM, EEPROM, FLASH, etc. Those technologies often are implemented in solid state semiconductor devices. Other memories may comprise moving parts, such as a conventional rotating disk drive. All such memories are "machine readable" or "computer-readable" and may be used to store executable instructions for implementing the functions described herein.

[0276] A "software product" refers to a memory device in which a series of executable instructions are stored in a machine-readable form so that a suitable machine or processor, with appropriate access to the software product, can execute the instructions to carry out a process implemented by the instructions. Software products are sometimes used to distribute software. Any type of machine-readable memory, including without limitation those summarized above, may be used to make a software product. That said, it is also known that software can be distributed via electronic transmission ("download"), in which case there typically will be acorresponding software product at the transmitting end of the transmission, or the receiving end, or both.

[0277] The invention being thus described and further described in the claims, it will be obvious that the same may be varied in many ways. Such variations are not to be regarded as a departure from the spirit and scope of the invention, and all such modifications as would be obvious to one skilled in the art are intended to be included within the scope of the apparatus described. Additionally, it is envisioned that elements and / or features illustrated or described in connection with one exemplary embodiment may be combined with elements and / or features of another exemplary embodiment without departing from the scope of this disclosure, and that such modification and variations are also intended to be included within the scope of this disclosure.

Claims

Claims1. A system for managing a plurality of working machines, comprising: one or more processors; and a memory storing instructions that, when executed by the one or more processors, cause the system to perform operations, the operations comprising: receiving a first working machine path plan for a first working machine and a second working machine path plan for a second working machine; analyzing the first working machine path plan and the second working machine path plan to determine an area of potential risk for collision between the first working machine and the second working machine; generating a safety zone based on the area of potential risk between the first working machine path plan and the second working machine path plan; generating a first mission plan for the first working machine which includes the first working machine path plan, the safety zone, and operation instructions for the first working machine; and generating a second mission plan for the second working machine which includes the second working machine path plan, the safety zone, and operation instructions for the second working machine.

2. The system of claim 1, wherein the operations further include sending the first mission plan to the first working machine and the second mission plan to the second working machine.

3. The system of claim 1, wherein generating the first mission plan for the first working machine and generating the second mission plan for the second working machine further includes generating a project map including the first mission plan and the second mission plan.

4. The system of claim 3, wherein the operations further include sending the project map to a user interface.

5. The system of claim 1, wherein the operations further include: receiving first machine operational characteristics for the first working machine and second machine operational characteristics for the second working machine; and analyzing the first machine operational characteristics and the second machine operational characteristics to determine a threshold proximity distance, wherein analyzing the first working machine path plan and the second working machine path plan to determine the area of potential risk further includes determining a portion of thefirst working machine path plan that is within the threshold proximity distance to a portion of the second working machine path plan.

6. The system of claim 5, wherein analyzing the first working machine path plan and the second working machine path plan to determine the area of potential risk further includes determining if a direction of travel of the first working machine at the portion of the first working machine path plan is counter-directional to a direction of travel of the second working machine at the portion of the second working machine path plan.

7. The system of claim 6, wherein determining if the direction of travel of the first working machine is counter-directional to the direction of travel of the second working machine further includes determining a threshold angle between the direction of travel of the first working machine and the direction of travel of the second working machine.

8. The system of claim 7 , wherein the threshold angle is greater than 30°.

9. The system of claim 1, wherein analyzing the first working machine path plan and the second working machine path plan to determine the area of potential risk further includes determining an overlapping segment between the first machine path plan and the second machine path plan, and wherein generating the safety zone further includes generating the safety zone based on the overlapping segment.

10. The system of claim 1, wherein receiving the first working machine path plan and the second working machine path plan includes the first working machine path plan having offset edges of the first working machine incorporated into the first working machine path plan and the second working machine path plan having offset edges of the second working machine incorporated into the second working machine path plan.

11. The system of claim 1, wherein analyzing the first working machine path plan and the second working machine path plan to determine the area of potential risk further includes determining a plurality of areas of potential risk, and wherein generating a safety zone further includes generating a plurality of safety zones.

12. A method for managing a plurality of working machines, comprising: receiving, by a predictive collision avoidance system, a first working machine path plan for a first working machine and a second working machine path plan for a second working machine;analyzing, by the predictive collision avoidance system, the first working machine path plan and the second working machine path plan to determine an area of potential risk for collision between the first working machine and the second working machine; generating, by the predictive collision avoidance system, a safety zone based on the area of potential risk between the first working machine path plan and the second working machine path plan; generating, by a mission planning system, a first mission plan for the first working machine which includes the first working machine path plan, the safety zone, and operation instructions for the first working machine; and generating a second mission plan for the second working machine which includes the second working machine path plan, the safety zone, and operation instructions for the second working machine.

13. The method of claim 12, further comprising: sending, by the mission planning system, the first mission plan to the first working machine and the second mission plan to the second working machine.

14. The method of claim 12, further comprising: sending, by the mission planning system, a project map including the first mission plan and the second mission plan, to a user interface.

15. The method of claim 12, further comprising: receiving, by the predictive collision avoidance system, first machine operational characteristics for the first working machine and second machine operational characteristics for the second working machine; and analyzing, by the predictive collision avoidance system, the first machine operational characteristics and the second machine operational characteristics to determine a threshold proximity distance, wherein analyzing the first working machine path plan and the second working machine path plan to determine the area of potential risk further includes determining a portion of the first working machine path plan that is within the threshold proximity distance to a portion of the second working machine path plan.

16. The method of claim 15, wherein analyzing the first working machine path plan and the second working machine path plan to determine the area of potential risk further includes determining if a direction of travel of the first working machine at the portion of the first working machinepath plan is counter-directional to a direction of travel of the second working machine at the portion of the second working machine path plan.

17. The method of claim 16, wherein determining if the direction of travel of the first working machine is counter-directional to the direction of travel of the second working machine further includes determining a threshold angle between the direction of travel of the first working machine and the direction of travel of the second working machine.

18. The method of claim 12, wherein analyzing the first working machine path plan and the second working machine path plan to determine the area of potential risk further includes determining an overlapping segment between the first machine path plan and the second machine path plan, and wherein generating the safety zone further includes generating the safety zone based on the overlapping segment.

19. The method of claim 12, wherein receiving the first working machine path plan and the second working machine path plan includes the first working machine path plan having offset edges of the first working machine incorporated into the first working machine path plan and the second working machine path plan having offset edges of the second working machine incorporated into the second working machine path plan.

20. A computer-readable storage memory storing instructions executable by a computer system that, when executed by one or more processors of the computer system, cause the one or more processors to perform operations, the operations comprising: receiving, by a predictive collision avoidance system, a first working machine path plan for a first working machine and a second working machine path plan for a second working machine; analyzing, by the predictive collision avoidance system, the first working machine path plan and the second working machine path plan to determine an area of potential risk for collision between the first working machine and the second working machine; generating, by the predictive collision avoidance system, a safety zone based on the area of potential risk between the first working machine path plan and the second working machine path plan; generating, by a mission planning system, a first mission plan for the first working machine which includes the first working machine path plan, the safety zone, and operation instructions for the first working machine; andgenerating a second mission plan for the second working machine which includes the second working machine path plan, the safety zone, and operation instructions for the second working machine.

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