Driverless vehicle guidance system and method

• US 6,971,464 B2
• Filed: 12/11/2002
• Issued: 12/06/2005
• Est. Priority Date: 12/12/2001
• Status: Expired due to Term

• Current Assignee: Jervis B Webb Company (Daifuku Company Limited)
• Original Assignee: Jervis B Webb Company (Daifuku Company Limited)
• Inventors: Marino, Mark
• Primary Examiner(s): Ellis, Christopher P.
• Assistant Examiner(s): SWENSON, BRIAN L
• Application Number:
  US10/316,496
• Publication Number:
  US 20030106731A1
• Time in Patent Office: 1,091 Days
• Field of Search: 180/168, 180/167, 180/401, 701/23, 701/27, 701/207, 701/210
• US Class Current: 180/167
• CPC Class Codes: B60T 7/16 operated by remote control, i.e. initiating means not mounted on vehicle
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: B62D 1/283 for unmanned vehicles
• CPC Class Codes: G05D 1/0263 using magnetic strips

Abstract

A vehicle guidance system for guiding a vehicle along a magnetic marker including a first magnetic sensor having a sensing axis, the first sensor measuring a first magnetic field. A second magnetic sensor has a sensing axis, the second sensor measuring a second magnetic field. The sensing axis of the second magnetic sensor crosses the sensing axis of the first magnetic sensor at a vehicle guide point. A processor is configured to receive data representative of the magnetic field measured by the first and second sensors and to calculate a lateral offset between the guide point and the magnetic marker based upon the measured magnetic fields. A method for guiding a vehicle in response to a marker having magnetic field is also disclosed. The steps of the method include measuring magnetic field strength proximate the marker, measuring ambient magnetic field strength remote from the marker, nulling the ambient magnetic field by removing the remote magnetic field strength from the proximate magnetic field strength, calculating a lateral displacement between the vehicle and the marker using the nulled magnetic field strength, and guiding the vehicle in response to the lateral displacement between the vehicle and the marker.

Claims

1. A vehicle guidance system for guiding a vehicle along a magnetic marker comprising:

a first magnetic sensor having a sensing axis, said first sensor measuring a first magnetic field;

a second magnetic sensor having a sensing axis, said second sensor measuring a second magnetic field, said sensing axis of said second magnetic sensor crossing said sensing axis of said first magnetic sensor at a vehicle guide point;

a third magnetic sensor laterally spaced from said guide point in a first direction, said third sensor measuring a third magnetic field, said third magnetic field comprising an ambient magnetic field; and

a processor configured to receive data representative of the magnetic field measured by said first, second, and third sensors, to subtract the third magnetic field from one of the first and second magnetic fields to determine a nulled value, and to calculate a lateral offset between said guide point and the magnetic marker based upon the nulled value.

2. The vehicle guidance system of claim 1 further including a steering controller and wherein said processor further determines a steering control signal proportional to the lateral offset and communicates said steering control signal to said controller.

3. The vehicle guidance system of claim 1 wherein said first and second magnetic sensors have uncompensated magnetic field strength sensitivity equal to or greater than 16 (mV/V)/(kA/m).

4. The vehicle guidance system of claim 1 wherein said first and second magnetic sensors discriminate changes in magnetic field of 1 Gauss or less.

5. The vehicle guidance system of claim 1 wherein said first and second magnetic sensors discriminate changes in magnetic field of 10 milliGauss or less.

6. The vehicle guidance system of claim 1 wherein said first and second magnetic sensors are Wheatstone bridge sensors.

7. The vehicle guidance system of claim 1 including a dual bridge giant magnetoresistive device defining said first and second magnetic sensors.

8. The vehicle guidance system of claim 1 wherein said processor calculates said lateral offset by the equation G(A−

B)/(A+B), wherein A is the magnetic field measured by the first magnetic sensor and B is the magnetic field measured by the second magnetic sensor.

9. The vehicle guidance system of claim 1 wherein the third magnetic field approximates ambient magnetic field in the proximity of the third sensor or stray magnetic field from the vehicle.

10. The vehicle guidance system of claim 1 wherein said third magnetic field is less than the first and second magnetic fields.

11. The vehicle guidance system of claim 1 wherein said processor subtracts said third magnetic field from said first magnetic field when calculating the lateral offset and wherein the vehicle guidance system further includes a fourth sensor laterally spaced from said guide point in a direction opposite said third sensor, said fourth sensor measuring a fourth magnetic field, said processor being further configured to receive data representative of a fourth magnetic field measured by said fourth sensor and to subtract the fourth magnetic field from the second magnetic field when calculating the lateral offset.

12. The vehicle guidance system of claim 11 wherein the fourth magnetic field approximates ambient magnetic field in the proximity of the fourth sensor or stray magnetic field from the vehicle.

13. The vehicle guidance system of claim 1 wherein said processor is further configured to use said third measured magnetic field to guide the vehicle along an edge of the marker.

14. The vehicle guidance system of claim 13 wherein said processor calculates the lateral offset of the guide point from the edge of the marker by the equation G[(A−

C)/(A+C)]±

K, wherein A is the magnetic field measured by the first sensor, C is the magnetic field measured by the third sensor, and K is an offset dependent on the width of the marker.

15. The vehicle guidance system of claim 13 wherein said processor guides the vehicle along the edge of the marker by determining steering control signals in a manner intended to maintain the third magnetic field at a constant value.

16. A driverless vehicle configured to be guided along a magnetic marker, said vehicle comprising;

a vehicle having a lateral centerline;

a guidance system fixed to the vehicle, said guidance system including;

a first magnetic sensor having a sensing axis, said first sensor measuring a first magnetic field;

a second magnetic sensor having a sensing axis, said second sensor measuring a second magnetic field, said sensing axis of said second magnetic sensor intersecting said sensing axis of said first magnetic sensor at a vehicle guide point;

a third magnetic sensor laterally spaced from said guide point in a first direction, said third sensor measuring a third magnetic field, said third magnetic field comprising an ambient magnetic field; and

a processor configured to receive data representative of the magnetic field measured by said first, second, and third sensors, to subtract the third magnetic field from one of the first and second magnetic fields to determine a nulled value, and calculate a lateral offset between said guide point and the magnetic marker based upon the nulled value.

17. The vehicle guidance system of claim 16 further including a steering controller and wherein said processor further determines a steering control signal proportional to the lateral offset and communicates said steering control signal to said controller.

18. The vehicle guidance system of claim 16 wherein said first and second magnetic sensors have uncompensated magnetic field strength sensitivity equal to or greater than 16 (mV/V)/(kA/m).

19. The vehicle guidance system of claim 16 wherein said first and second magnetic sensors discriminate changes in magnetic field of 1 Gauss or less.

20. The vehicle guidance system of claim 16 wherein the third magnetic field approximates ambient magnetic field in the proximity of the third sensor or stray magnetic field from the vehicle.

21. A vehicle guidance system for guiding a vehicle along a magnetic marker having a pair of opposite edges, said vehicle guidance system comprising:

a first magnetic sensor having a sensing axis, said first sensor measuring a first magnetic field;

a second magnetic sensor having a sensing axis, said second sensor measuring a second magnetic field, said sensing axis of said second magnetic sensor crossing said sensing axis of said first magnetic sensor at a vehicle guide point;

a third magnetic sensor laterally spaced from said guide point in a first direction, said third sensor measuring a third magnetic field comprising an ambient magnetic field; and

a processor configured to receive data representative of the magnetic field measured by said first, second, and third sensors and to use the third measured magnetic field to guide the vehicle along one of the marker edges.

22. The vehicle guidance system of claim 21 further including a steering controller and wherein said processor further determines a steering control signal proportional to the running average of the first magnetic field and the second magnetic field and communicates said steering control signal to said controller.

23. The vehicle guidance system of claim 21 wherein said processor uses the third measured magnetic field to calculate a lateral offset of the guide point from one of the marker edges for guiding the vehicle along one of the marker edges, said calculation being based on the equation G[(A−

C)/(A+C)]±

K, wherein A is the magnetic field measured by the first sensor, C is the magnetic field measured by the third sensor, and K is an offset dependent on the width of the marker.

24. The vehicle guidance system of claim 21 wherein said processor guides the vehicle along one of the marker edges by determining steering control signals in a manner intended to maintain the third magnetic field at a constant value.

25. A method for guiding a vehicle in response to a marker having magnetic field comprising the steps of:

measuring magnetic field strength proximate the marker;

measuring ambient magnetic field strength remote from the marker;

nulling the ambient magnetic field by removing the remote magnetic field strength from the proximate magnetic field strength;

calculating a lateral displacement between the vehicle and the marker using the nulled magnetic field strength; and

guiding the vehicle in response to the lateral displacement between the vehicle and the marker.

26. The method of claim 25 including the step of measuring magnetic field strength proximate to the marker of 16 (mV/V)/(kA/m) or less.

27. The method of claim 25 further including the step of guiding the vehicle along one of the opposite marker edges by determining steering control signals in a maimer intended to maintain the magnetic field strength proximate the marker at a constant value.

28. The method of claim 25 wherein the marker has a pair of opposite edges and including the steps of calculating a lateral displacement between the vehicle and one of the pair of opposite marker edges using the nulled magnetic field strength, and guiding the vehicle along said one of the pair of opposite marker edges.

29. The method of claim 28 wherein the step of calculating a lateral displacement is based upon the equation C[(A−

C)/(A+C)]±

K, wherein A is the magnetic field measured by the first sensor, C is the magnetic field measured by the third sensor, and K is an offset dependent on the width of the marker.