Agricultural vehicle autopilot rollover risk assessment system

• US 8,275,516 B2
• Filed: 07/21/2009
• Issued: 09/25/2012
• Est. Priority Date: 07/21/2009
• Status: Active Grant

• Current Assignee: PTx Trimble LLC
• Original Assignee: Trimble Navigation Limited (Trimble Inc.)
• Inventors: Murphy, Michael D
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): PATEL, SHARDUL D
• Application Number:
  US12/506,435
• Publication Number:
  US 20110022267A1
• Time in Patent Office: 1,162 Days
• Field of Search: 701/38, 701/124
• US Class Current: 701/38
• CPC Class Codes: A01B 69/00 Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
• CPC Class Codes: A01D 75/28 Control mechanisms for harvesters or mowers when moving on slopes; Devices preventing lateral pull
• CPC Class Codes: B60G 2800/965 Automatic or driver-independent manoeuvre, e.g. for obstacle avoidance or roll-over prevention
• CPC Class Codes: B60W 2520/105 Longitudinal acceleration
• CPC Class Codes: B60W 2520/125 Lateral acceleration
• CPC Class Codes: B60W 2520/14 Yaw
• CPC Class Codes: B60W 2520/16 Pitch
• CPC Class Codes: B60W 2520/18 Roll
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/04 related to roll-over prevention
• CPC Class Codes: B60W 40/112 Roll movement
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B60Y 2200/221 Tractors

Abstract

A rollover risk assessment system includes sensors and a processor for estimating rollover risk associated with maneuvering on varying terrain.

Claims

1. A vehicle rollover risk assessment system comprising:

a processor;

a GNSS receiver that provides vehicle position and speed information to the processor;

pitch, roll and yaw sensors that provide vehicle attitude information to the processor;

a three-axis accelerometer that provides vehicle acceleration information to the processor;

a steering sensor that provides vehicle wheel angle information to the processor;

wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk; and

,

a steering control that steers the vehicle in response to commands from the processor;

wherein, the processor changes vehicle path when the rollover risk is greater than a predetermined level.

2. A vehicle rollover risk assessment system comprising:

a processor;

a GNSS receiver that provides vehicle position and speed information to the processor;

pitch, roll and yaw sensors that provide vehicle attitude information to the processor;

a three-axis accelerometer that provides vehicle acceleration information to the processor;

a steering sensor that provides vehicle wheel angle information to the processor;

wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk; and

,

a throttle sensor that provides throttle information to the processor; and

,

a throttle control that operates the throttle in response to commands from the processor;

wherein, the processor reduces vehicle speed by operating the throttle when the rollover risk is greater than a predetermined level.

3. A vehicle rollover risk assessment system comprising:

a processor;

a GNSS receiver that provides vehicle position and speed information to the processor;

pitch, roll and yaw sensors that provide vehicle attitude information to the processor;

a three-axis accelerometer that provides vehicle acceleration information to the processor;

a steering sensor that provides vehicle wheel angle information to the processor;

wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk; and

,

the processor calculates the vehicle'"'"'s center of gravity location as a function of weight and arm of the vehicle and any attached accessories and implements.

4. The system of claim 3 wherein a display shows the center of gravity location in relation to a stability baseline.

5. A vehicle rollover risk assessment system comprising:

a processor;

a GNSS receiver that provides vehicle position and speed information to the processor;

pitch, roll and yaw sensors that provide vehicle attitude information to the processor;

a three-axis accelerometer that provides vehicle acceleration information to the processor;

a steering sensor that provides vehicle wheel angle information to the processor;

wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk; and

,

tire pressure sensors that provide tire pressure information to the processor;

wherein the processor calculates the vehicle'"'"'s center of gravity location as a function of vehicle weight, roll angle and tire pressure.

6. The system of claim 5 wherein a display shows the center of gravity location in relation to a stability baseline.

7. A vehicle rollover risk assessment system comprising:

a processor;

a GNSS receiver that provides vehicle position and speed information to the processor;

pitch, roll and yaw sensors that provide vehicle attitude information to the processor;

a three-axis accelerometer that provides vehicle acceleration information to the processor;

a steering sensor that provides vehicle wheel angle information to the processor;

wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk; and

,

the processor generates a topographic map from recorded vehicle position fixes.

8. A vehicle rollover risk assessment system comprising:

a processor;

a GNSS receiver that provides vehicle position and speed information to the processor;

pitch, roll and yaw sensors that provide vehicle attitude information to the processor;

a three-axis accelerometer that provides vehicle acceleration information to the processor;

a steering sensor that provides vehicle wheel angle information to the processor;

wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk; and

,

the processor records vehicle position and attitude fixes.

9. The system of claim 8 wherein the processor generates a topographic map from recorded vehicle position and attitude fixes.

10. A vehicle rollover risk assessment system comprising:

a processor;

a GNSS receiver that provides vehicle position and speed information to the processor;

pitch, roll and yaw sensors that provide vehicle attitude information to the processor;

a three-axis accelerometer that provides vehicle acceleration information to the processor;

a steering sensor that provides vehicle wheel angle information to the processor; and

;

a roll angle display that shows current roll angle and maximum safe roll angle;

wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk.

11. A vehicle rollover risk assessment system comprising:

a processor;

a GNSS receiver that provides vehicle position and speed information to the processor;

pitch, roll and yaw sensors that provide vehicle attitude information to the processor;

a three-axis accelerometer that provides vehicle acceleration information to the processor;

a steering sensor that provides vehicle wheel angle information to the processor;

wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk; and

,

a communications link that provides voice and/or data communication to a base station;

wherein, the processor sends a distress signal via the communications link whenever the vehicle roll angle exceeds a critical angle.

12. A method for assessing rollover risk comprising:

providing a GNSS receiver that measures vehicle position and speed;

providing pitch, roll and yaw sensors that measure vehicle attitude;

providing a three-axis accelerometer that measures vehicle acceleration;

providing a steering sensor that measures vehicle wheel angle;

determining the value of a static stability index as a function of vehicle attitude; and

,

creating a warning whenever the static stability index is less than or equal to a critical value.

13. The method of claim 12 further comprising:

changing vehicle path to prevent a rollover.

14. The method of claim 12 further comprising:

calculating turn radius as a function of wheel angle;

and, determining the value of a dynamic stability index as a function of vehicle speed and turn radius.

15. The method of claim 14 further comprising:

creating a warning whenever the dynamic stability index is less than or equal to a critical value.

16. The method of claim 14 further comprising:

changing vehicle speed to prevent a rollover.

17. The method of claim 14 further comprising:

changing vehicle path to prevent a rollover.

18. A method for assessing rollover risk comprising:

providing a processor;

providing a GNSS receiver that measures vehicle position and speed;

providing pitch, roll and yaw sensors that measure vehicle attitude;

providing a three-axis accelerometer that measures vehicle acceleration;

providing a steering sensor that measures vehicle wheel angle;

providing a steering control that steers the vehicle in response to commands from the processor;

determining the value of a static stability index as a function of calculated vehicle attitude along a predetermined route; and

,

determining locations where the static stability index is less than or equal to a critical value along the route.

19. The method of claim 18 further comprising:

creating a warning whenever the static stability index is less than or equal to a critical value.

20. The method of claim 18 further comprising:

changing vehicle path to prevent a rollover.

21. A method for assessing rollover risk comprising:

providing a processor;

providing a GNSS receiver that measures vehicle position and speed;

providing pitch, roll and yaw sensors that measure vehicle attitude;

providing a three-axis accelerometer that measures vehicle acceleration;

providing a steering sensor that measures vehicle wheel angle;

providing a steering control that steers the vehicle in response to commands from the processor;

determining the value of a static stability index as a function of calculated vehicle attitude along a predetermined route; and

,

determining the value of a dynamic stability index as a function of calculated vehicle speed and turn radius along the route.

22. The method of claim 21 further comprising:

determining locations where the dynamic stability index will be less than or equal to a critical value along the route.

23. The method of claim 21 further comprising:

changing vehicle speed to prevent a rollover.

24. The method of claim 21 further comprising:

changing vehicle path to prevent a rollover.

25. An autonomous farm tractor autopilot comprising:

a GNSS receiver;

pitch, roll and yaw MEMS rate gyroscopes;

a three-axis accelerometer;

a steering sensor; and

a throttle sensor;

that measure;

position and speed;

pitch rate, roll rate and yaw rate;

acceleration;

wheel angle; and

throttle position, respectively, of the autonomous farm tractor;

steering and throttle controls that control steering angle and speed, respectively, of the autonomous farm tractor;

a communications link that provides wireless data communication to a base station; and

,

a processor in communication with the GNSS receiver, gyroscopes, accelerometer, steering sensor, throttle sensor, steering control, throttle control and communications link, the processor computing;

center of gravity of the tractor,

static stability index in terms of pitch and roll overturn angles and tractor attitude,

dynamic stability index in terms of critical tangential speed and actual speed and turn radius,

steering and throttle commands that guide the autonomous farm tractor along a predetermined route such that the static and dynamic stability indices do not fall below a threshold value along the route, and

warning messages that alert the base station whenever;

an unsafe tractor attitude occurs.

26. The autonomous farm tractor autopilot of claim 25, the processor further computing warning messages that alert the base station whenever:

computed stability indices indicate that an unsafe tractor attitude could occur along the predetermined route.

27. The autonomous farm tractor autopilot of claim 25, the processor further computing warning messages that alert the base station whenever:

tractor speed is reduced to prevent an unsafe tractor attitude;

or, the processor computes steering commands that guide the autonomous farm tractor along a route other than the predetermined route to avoid an unsafe tractor attitude.

28. The autonomous farm tractor autopilot of claim 25, the processor computing center of gravity of the tractor based on type of tractor, and position and weight of any attached implements and accessories.

29. The autonomous farm tractor autopilot of claim 25 further comprising a tire pressure sensor, the processor computing center of gravity of the tractor based on tractor weight, roll angle and tire pressure.