Method and apparatus for vehicle auto-guidance

• US 9,051,006 B2
• Filed: 09/06/2007
• Issued: 06/09/2015
• Est. Priority Date: 09/06/2007
• Status: Active Grant

• Current Assignee: TSD Integrated Controls LLC (Topcon Corporation)
• Original Assignee: TSD Integrated Controls LLC (Topcon Corporation)
• Inventors: Reed, Keith, Gomes, Michael John
• Primary Examiner(s): Kiswanto, Nicholas
• Application Number:
  US11/899,899
• Publication Number:
  US 20090069967A1
• Time in Patent Office: 2,833 Days
• Field of Search: 701/23, 701/41, 701/43, 701/44, 701/50, 180/404, 180/443, 180/444, 180/446, 180/273
• US Class Current: 1/1
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention

Abstract

Methods and apparatus are disclose for auto-steering of an auto-guided vehicle. A sensor coupled to a steering shaft detects when an operator requests control of the vehicle. The sensor then transmits information indicative of the request to one or more controllers of an auto-guidance system, which initiates a shutdown of auto-steering functions. In this way, the system quickly reverts to manual steering in an automatically guided and steered vehicle.

Claims

1. A method of steering an auto-guided vehicle comprising:

during reaction type steering of the auto-guided vehicle in which a steering shaft of the auto-guided vehicle is coupled to an auto-steering controller of the auto-guided vehicle, detecting a first manual steering input based on a detected first movement of the steering shaft exceeding a first predetermined limit;

disabling a first automatic steering of the auto-guided vehicle in response to the first manual steering input;

during non-reaction type steering in which the steering shaft of the auto-guided vehicle is decoupled from the auto-steering controller, detecting a second manual steering input based on a detected second movement of the steering shaft exceeding a second predetermined limit indicating the second manual steering input, the second predetermined limit being less than the first predetermined limit, using a steering sensor coupled to the steering shaft; and

disabling a second automatic steering of the auto-guided vehicle in response to the second manual steering input.

2. The method of claim 1 further comprising:

initiating the first automatic steering of the auto-guided vehicle prior to detecting the first manual steering input; and

initiating the second automatic steering of the auto-guided vehicle prior to detecting the second manual steering input.

3. The method of claim 1 wherein the auto-steering controller is adapted to disable automatic steering of the vehicle,

the method further comprising:

transmitting first information about the detected first manual steering input to the auto-steering controller; and

transmitting second information about the detected second manual steering input to the auto-steering controller.

4. The method of claim 3, wherein transmitting the first information to the auto-steering controller comprises transmitting:

a value of a first angle through which the steering shaft is turned;

a rate of a change of the value of the first angle through which the steering shaft is turned; and

wherein transmitting the second information comprises transmitting;

a value of a second angle through which the steering shaft is turned; and

a rate of a change of the value of the second angle through which the steering shaft is turned.

5. The method of claim 1 wherein disabling the second automatic steering of the vehicle in response to detecting the second manual steering input further comprises ceasing sending automatic steering control signals.

6. The method of claim 5, wherein ceasing sending automatic steering control signals comprises ceasing sending automatic steering control signals such that, upon detecting that manual steering is relinquished, the automatic steering of the vehicle is reinstated.

7. The method of claim 1, wherein the first movement of the steering shaft comprises a first angle through which the steering shaft is turned and wherein the second movement of the steering shaft comprises a second angle through which the steering shaft is turned.

8. A vehicle comprising:

a steering shaft; and

an auto-steering controller configured to control an automatic steering of the vehicle; and

a steering sensor coupled to the steering shaft and adapted to;

detect, during a reaction type steering of the vehicle in which the steering shaft is coupled to the auto-steering controller, a first manual steering input based on a detected first movement of the steering shaft exceeding a first predetermined limit;

transmit information relating to the first manual steering input to the auto-steering controller;

detect, during a non-reaction type steering of the vehicle in which the steering shaft is decoupled from the auto-steering controller, a second manual steering input based on a detected second movement of the steering shaft exceeding a second predetermined limit, the second predetermined limit being less than the first predetermined limit;

transmit information relating to the second manual steering input to the auto-steering controller; and

an auto-guidance system adapted to;

disable, during the reaction type steering, a first automatic steering of the vehicle in response to the information relating to the first manual steering input; and

disable, during the non-reaction type steering of the auto-guided vehicle, a second automatic steering in response to detection by the steering sensor of the second movement of the steering shaft exceeding the second predetermined limit.

9. The vehicle of claim 8 wherein the steering sensor is a rotary sensor.

10. The vehicle of claim 8 wherein the steering sensor is a torque sensor.

11. The vehicle of claim 8 wherein the auto-guidance system further comprises:

a controller adapted to transmit automatic steering control signals to the auto-steering controller.

12. An apparatus comprising:

means for detecting, during a reaction mode in which the steering shaft is coupled to an auto-steering controller of the vehicle, a first manual steering input based on a detected first movement of a steering shaft of a vehicle exceeding a first predetermined limit;

means for disabling a first automatic steering of the vehicle in response to the first manual steering input;

means for detecting, during a non-reaction mode in which the steering shaft is decoupled from the auto-steering controller, a second manual steering input based on a detected second movement of the steering shaft above a second predetermined limit indicating the second manual steering input, the second predetermined limit being less than the first predetermined limit; and

means for disabling a second automatic steering of the vehicle in response to detecting the second manual steering input by the means for detecting the second manual steering input.

13. The apparatus of claim 12 further comprising:

means for initiating the first automatic steering of the vehicle prior to detecting the first manual steering input; and

means for initiating the second automatic steering of the vehicle prior to detecting the second manual steering input.

14. The apparatus of claim 12 further comprising:

means for transmitting first information about the detected first manual steering input to the means for disabling the first automatic steering of the vehicle; and

means for transmitting second information about the detected second manual steering input to the means for disabling the second automatic steering of the vehicle.

15. The apparatus of claim 12 wherein the means for disabling the second automatic steering of the vehicle in response to detecting the second manual steering input comprises means for ceasing sending automatic steering control signals.