MULTIMODE VEHICULAR NAVIGATION CONTROL

• US 20130054052A1
• Filed: 09/25/2012
• Published: 02/28/2013
• Est. Priority Date: 08/29/2011
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Waltz, Lucas B., Zheng, Bing, Mallak, Thomas L., Mangette, Steve
• Granted Patent: US 9,778,656 B2
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Included are embodiments for multimode vehicular navigation control. Some embodiments include a vehicle that has a memory component and a vehicle control module (VCM), where the VCM includes a controller. Additionally, the memory component may store functional modes of operation and control modes of operation, each of the control modes of operation being associated with a mechanism for controlling the vehicle, and each of the functional modes of operation being associated with a desired function of the vehicle. In some embodiments the VCM receives control commands from a system operator and implements the control commands, utilizing the controller. In some embodiments, at least one of the control modes of operation is configured for automatic control of the vehicle and at least one of the control modes of operation is a torque control mode for providing a power signal directly to a vehicle motor, without utilization of the controller.

Claims

1. A system comprising a vehicle comprising memory component and a vehicle control module (VCM), the VCM comprising a controller, wherein:

the memory component stores functional modes of operation and control modes of operation, each of the control modes of operation is associated with a mechanism for controlling the vehicle, and each of the functional modes of operation is associated with a desired function of the vehicle;

the VCM receives control commands from a system operator and implements the control commands, utilizing the controller;

at least one of the control modes of operation is configured for automatic control of the vehicle; and

at least one of the control modes of operation is a torque control mode for providing a power signal directly to a vehicle motor, without utilization of the controller.

2. The system of claim 1, wherein the functional modes of operation comprise at least one of the following:

a traction mode, a steer mode, a hoist mode, and an accessory mode.

3. The system of claim 1, wherein the desired function of the vehicle comprises at least one of the following:

maintaining traction, steering, hoisting, and maintaining an accessory of the vehicle.

4. The system of claim 1, wherein the control modes of operation comprise a speed control mode with default PI gains, the speed control mode with adjustable PI gains, and a position control mode.

5. The system of claim 4, wherein in response to implementation of at least one of the control modes of operation, the VCM sends a control command, via the controller, for operation of the vehicle.

6. The system of claim 5, wherein:

the VCM sends the control command, via the controller, to a power module,

the power module comprises at least one of the following;

a traction control module, a steering control module, and a hydraulic module, and

the power module sends the power signal to a motor of the vehicle.

7. The system of claim 1, wherein the mechanism for controlling the vehicle comprises at least one of the following:

controlling the vehicle via a speed parameter, controlling the vehicle via a position parameter, and controlling the vehicle via the power signal.

8. The system of claim 1, wherein the vehicle comprises a navigation control module (NCM), wherein the VCM communicates a selected control mode of operation and a selected functional mode of operation that is currently being implemented by the vehicle to the NCM.

9. The system of claim 1, wherein the vehicle comprises an NCM, wherein the NCM communicates a selected control mode and a selected functional mode to the VCM for vehicle implementation.

10. The system of claim 1, wherein the vehicle comprises an NCM and wherein a speed control with default PI gain mode is utilized when the vehicle is being controlled by the NCM, such that a system administrator selects PI values for controlling the responsiveness of the vehicle.

11. The system of claim 1, wherein a speed control with adjustable PI gain mode is utilized to adjust PI gains, depending on a particular action that the vehicle is performing.

12. The system of claim 11, wherein the vehicle comprises an NCM and wherein the PI gains are adjusted by the NCM.

13. The system of claim 1, wherein the vehicle comprises an NCM, the control modes of operation comprise a position control mode, and selection of the position control mode shifts control of a position of the vehicle from the NCM to the VCM.

14. The system of claim 1, further comprising:

a navigation system and a remote computing device, wherein;

the vehicle comprises an NCM;

the navigation system communicates with the NCM to provide automatic control commands to the vehicle; and

the remote computing device processes a work order, determines whether the vehicle will fulfill the work order, and communicates with the navigation system to provide the automatic control commands.

15. The system of claim 1, wherein the controller comprises at least one of the following:

a proportional-integral-derivative (PID) controller, a proportional-integral (PI) controller, a fuzzy controller, and an H-infinity controller.

16. A method comprising:

receiving an automatic command at a navigation control module (NCM) that is configured for implementing automatic operation of a vehicle;

determining a functional mode command and a control mode command;

determining a type of functional mode associated with the functional mode command;

determining a type of control mode associated with the control mode command;

sending a signal from the NCM to a vehicle control module (VCM) on the vehicle that identifies a control operation, wherein the control operation relates to the type of functional mode and the type of control mode; and

activating a motor of the vehicle, based on the type of functional mode and the type of control mode.

17. The method of claim 16, wherein determining the type of functional mode comprises determining whether the functional mode command identifies at least one of the following functional modes:

a traction mode, a steer mode, a hoist mode, and an accessory mode.

18. The method of claim 16, wherein determining the type of control mode comprises determining whether the control mode command identifies at least one of the following control commands:

a speed control mode with default PI gains, a speed control mode with adjustable PI gains, a torque control mode, and a position control mode.

19. The method of claim 16, further comprising utilizing a traction control module to activate the motor.

20. A vehicle comprising a memory component and a vehicle control module (VCM), which comprises a controller, wherein:

the memory component stores functional modes of operation and control modes of operation, each of the control modes of operation is configured for controlling the vehicle, and each of the functional modes of operation defines a function of operation of the vehicle;

at least one of the control modes of operation is configured for automatic control of the vehicle;

at least one of the control modes of operation is a torque control mode for providing a power signal directly to a vehicle motor, without utilization of the controller; and

at least one of the control modes of operation utilizes the VCM and the controller for controlling the vehicle.

21. The vehicle of claim 20, wherein:

at least one of the functional modes of operation is implemented on the vehicle;

at least one of the control modes of operation is implemented on the vehicle; and

the VCM communicates data identifying the at least one of the functional modes of operation and the at least one of the control modes of operation to a navigation control module (NCM).