System and method for controlling a vehicle traveling along a path

• US 8,930,058 B1
• Filed: 10/20/2008
• Issued: 01/06/2015
• Est. Priority Date: 10/20/2008
• Status: Active Grant

• Current Assignee: the united states of america as represented by the secretary of the navy
• Original Assignee: the united states of america as represented by the secretary of the navy
• Inventors: Quist, Donald G., Zorzi, Carl M., Wight, William S., Robinson, David Reed, Wolfe, Brian J., Hansen, Joseph R.
• Primary Examiner(s): Algahaim, Helal A
• Assistant Examiner(s): WALLACE, DONALD JOSEPH
• Application Number:
  US12/254,514
• Time in Patent Office: 2,269 Days
• Field of Search: 701/2, 701 23- 28, 701/70, 701/400, 701408-410, 701/412, 701466-468, 701/472, 701/500, 340/988, 340/989, 340/995.19, 340/995.25, 901/1
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0221 involving a learning process

Abstract

The present invention provides an unmanned fully autonomous threat representative mobile land target for testing modern weapon systems and training personnel. The invention implements novel navigation and vehicle control algorithms which allow any predefined course to be represented spatially and temporally with continuously and smoothly varying curvatures having no discontinuities of curvature, direction, or acceleration that enable the target vehicle to traverse a predefined course with unprecedented speed, accuracy, and maneuverability without the need for communication with any remotely located station. It is emphasized that this abstract is provided to comply with the rules requiring an abstract that will allow a searcher or other reader to quickly ascertain the subject matter of the technical disclosure. It is submitted with the understanding that it will not be used to interpret or limit the scope of the claims.

Claims

1. A mobile target vehicle traveling along a path, comprising:

a motor vehicle arranged to traverse terrain including an engine, engine throttle system, drive train system, braking system, and steering system;

the motor vehicle including actuators arranged to position controls of the braking system, steering system, drive train system, and engine throttle system in response to commands from an onboard vehicle control computer;

the motor vehicle including sensors arranged to sense the position of controls for the braking system, steering system, drive train system, and engine throttle system;

said sensors arranged to relay the position of controls of the braking system, steering system, drive train system, and engine throttle system to said vehicle control computer;

a navigation computer disposed onboard the motor vehicle;

a global positioning system receiver disposed onboard the motor vehicle arranged to provide motor vehicle position information to said navigation computer;

information representative of a recorded predefined path, wherein said recorded predefined path is a previously driven manually operated traverse of the motor vehicle over the desired vehicle ground path, wherein said information is a plurality of data points based upon specific GPS coordinates stored in said navigation computer as enhanced waypoints derived from continuously and smoothly varying curvatures of a simultaneous two-segment piecewise least-squares fit of a clothoid spiral form having no discontinuities of curvature or direction;

wherein said information representative of a recorded predefined path is matched by calculating time of arrival and path length at each point in said plurality of data points along said simultaneous two-segment piecewise least-squares fit of said clothoid spiral form, said least-squares fit having corresponding path length, velocity, and acceleration information at any given time, wherein said time of arrival and said velocity information is used to match the velocity profile and maintain synchronization of the motor vehicle along said predefined path;

said navigation computer operably linked with said vehicle control computer;

said navigation computer operative upon said stored information representative of a recorded predefined path and said motor vehicle position information to determine and to send to said vehicle control computer the actuator commands necessary to cause the motor vehicle to follow said predefined path; and

said vehicle control computer arranged to cause execution by the actuators of the commands sent from the navigation computer to cause the motor vehicle to follow said recorded predefined path.

2. The target vehicle of claim 1 wherein the motor vehicle is selected from the group of motor vehicles consisting of a wheeled vehicle, a tracked vehicle, and a semi-tracked vehicle.

3. The target vehicle of claim 1 wherein the self-contained on board systems are configured to operate the vehicle over a recorded predefined path at a speed up to about 75 mph while maintaining cross-track errors no greater than about 6 inches.

4. The target vehicle of claim 1 wherein the self-contained on board systems are configured to operate the vehicle over a recorded predefined path at a speed of about 30 mph with lateral acceleration up to about 0.6 g'"'"'s.

5. The target vehicle of claim 1 wherein the self-contained on board systems are configured to operate the vehicle with a speed accuracy within 0.5 mph while driving at up to 70 mph on a road with changes in incline, over a 3 second time interval, of up to 4% in grade.

6. The target vehicle of claim 1 further including an inertial measurement unit disposed onboard the motor vehicle configured to provide motor vehicle position information to said navigation computer.