{
  "$type": "site.standard.document",
  "description": "A method of path planning for a vehicle includes receiving a request for a turn from a current swath to a next swath, receiving information of the current swath and information of the next swath, determining a trajectory of the turn based on the information of the current swath and the information…",
  "path": "/patents/1303649",
  "publishedAt": "2021-11-04T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "G05D1/0219",
    "Trimble Inc."
  ],
  "textContent": "A method of path planning for a vehicle includes receiving a request for a turn from a current swath to a next swath, receiving information of the current swath and information of the next swath, determining a trajectory of the turn based on the information of the current swath and the information of the next swath, and outputting the trajectory to a control system of the vehicle for executing the turn. The trajectory includes a first segment and a second segment. The first segment starts from a beginning position of the turn at the current swath and ends at an intermediate position; and the second segment starts from the intermediate position and ends at an ending position of the turn at the next swath. The vehicle changes from a forward gear to a reverse gear, or vice versa, as the vehicle transitions from the first segment to the second segment.",
  "title": "MULTI-SEGMENT TURNS"
}