Anti-rut system for autonomous-vehicle guidance

• US 6,442,456 B2
• Filed: 02/02/2001
• Issued: 08/27/2002
• Est. Priority Date: 03/07/2000
• Status: Expired due to Term

• Current Assignee: Modular Mining Systems Incorporated (Komatsu Ltd.)
• Original Assignee: Modular Mining Systems Incorporated (Komatsu Ltd.)
• Inventors: Parfenov, Vadim, Burns, Ray L.
• Primary Examiner(s): Camby, Richard M.
• Application Number:
  US09/776,277
• Publication Number:
  US 20010021888A1
• Time in Patent Office: 571 Days
• Field of Search: 701/23, 701/24, 701/25, 701/26, 701/27, 701/28, 701/200, 701/201, 701/207, 701/208, 701/209, 701/210, 701/213, 701/300, 180/168, 180/204
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

In a vehicle traffic system, the predetermined nominal trajectory for an autonomous vehicle is varied periodically within acceptable boundaries which define a permitted travel corridor. The corridor'"'"'s boundaries ensure the continued safe and controlled operation of the vehicle within the system. In an embodiment of the invention, alternative trajectories are selected randomly; in another, they are parallel to one another. In yet another, preferred embodiment, judiciously-selected, alternative trajectories are repeated periodically according to a predetermined schedule designed to avoid repetitive travel over the same precise path, and possibly also selected for optimal results under different terrain, environmental, and/or operational conditions. According to another aspect of the invention, the shape and size of the corridor defining the boundaries for safe operation are varied in response to changed conditions to increase operational flexibility. Thus, by avoiding repeated passage precisely over the path of the nominal trajectory, rutting on the road is greatly reduced and a more uniform surface is maintained for travel.

Claims

1. In an autonomous vehicle system wherein traffic control apparatus guides a vehicle along a corresponding nominal travel trajectory on a roadway, a method for reducing the formation of ruts in the roadway, the method comprising the following steps:

(a) generating alternative paths for travel by the vehicle along said nominal travel trajectory; and

(b) sequentially guiding the vehicle to travel along a plurality of said alternative paths.

2. The method of claim 1, further including the step of establishing a corridor defining boundaries available for travel by the vehicle around said nominal trajectory;

wherein said alternative paths are contained within the corridor.

3. The method of claim 2, wherein said boundaries are variable.

4. The method of claim 1, wherein said step (a) is carried out by randomly selecting said alternative paths.

5. The method of claim 2, wherein said step (a) is carried out by randomly selecting said alternative paths within the corridor.

6. The method of claim 3, wherein said step (a) is carried out by randomly selecting said alternative paths within the corridor.

7. The method of claim 1, wherein said step (a) is carried out by selecting said alternative paths in parallel to the nominal trajectory.

8. The method of claim 2, wherein said step (a) is carried out by selecting said alternative paths in parallel to the nominal trajectory within the corridor.

9. The method of claim 3, wherein said step (a) is carried out by selecting said alternative paths in parallel to the nominal trajectory within the corridor.

10. The method of claim 3, wherein said boundaries are variable as a function of vehicle dimensions.

11. The method of claim 3, wherein said boundaries are variable as a function of vehicle dynamic parameters.

12. The method of claim 3, wherein steps (a) and (b) are repeated periodically after said boundaries have been varied.

13. The method of claim 1, wherein said autonomous vehicle system is implemented in a surface mine.

14. In an autonomous vehicle system wherein traffic control apparatus guides a vehicle along a corresponding nominal travel trajectory on a roadway, apparatus for reducing the formation of ruts in the roadway, the apparatus comprising the following:

(a) means for generating alternative paths for travel by the vehicle along said nominal travel trajectory; and

(b) and means for sequentially guiding the vehicle to travel along a plurality of said alternative paths.

15. The apparatus of claim 14, further including means for establishing a corridor defining boundaries available for travel by the vehicle around said nominal trajectory;

wherein said alternative paths are contained within the corridor.

16. The apparatus of claim 14, wherein said boundaries are variable.

17. The apparatus of claim 14 wherein said autonomous vehicle system is implemented in a surface mine.