System and method for controlling an autonomously navigated vehicle

• US 5,646,845 A
• Filed: 05/01/1995
• Issued: 07/08/1997
• Est. Priority Date: 02/05/1990
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Gudat, Adam J., Koehrsen, Craig L., Whittaker, William L., Kemner, Carl A., Kyrtsos, Christos T., Peterson, Joel L., Schmidt, Larry E., Kleimenhagen, Karl W., Stafford, Darrell E., Weinbeck, Louis J., Christensen, Dana A., Bradbury, Walter J.
• Primary Examiner(s): PARK, COLLIN
• Application Number:
  US08/432,561
• Time in Patent Office: 799 Days
• Field of Search: 364/424.02, 364/424.03, 364/443, 364/424.01, 364/424.05, 180/167, 180/168, 180/169
• US Class Current: 701/41
• CPC Class Codes: B60K 31/0008 including means for detecting potential obstacles in vehicle path
• CPC Class Codes: B60K 31/04 and means for comparing one electrical quantity, e.g. voltage, pulse, waveform, flux, or the like, with another quantity of a like kind, which comparison means is involved in the development of an electrical signal which is fed into the controlling means
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 19/11 wherein the cooperating elements are pseudolites or satellite radio beacon positioning system signal repeaters
• CPC Class Codes: G01S 19/27 creating, predicting or correcting ephemeris or almanac data within the receiver
• CPC Class Codes: G01S 19/41 Differential correction, e.g. DGPS [differential GPS]
• CPC Class Codes: G01S 19/46 the supplementary measurement being of a radio-wave signal type
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/52 Determining velocity
• CPC Class Codes: G01S 5/009 Transmission of differential positioning data to mobile
• CPC Class Codes: G01S 7/4811 common to transmitter and receiver
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0268 using internal positioning means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• 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
• CPC Class Codes: G08G 1/202 : Dispatching vehicles on the basis of a location, e.g. taxi dispatching

Abstract

A system and method for controlling an autonomously navigated vehicle uses a vehicle manager to control vehicle subsystems and to respond to commands from either a vehicle navigation system or a remote control panel. The vehicle manager controls vehicle subsystems including a speed control subsystem, a steering control subsystem, an auxiliary control subsystem, and a monitor subsystem. The speed control subsystem controls the speed of the vehicle in response to a speed command from the vehicle manager. The steering control subsystem controls the steering angle of the vehicle in response to a steering command from the vehicle manager. The auxiliary control subsystem controls auxiliary functions of the vehicle in response to an auxiliary command from the vehicle manager. The monitor subsystem monitors the status of each of the other subsystems and provides the status to the vehicle manager.

Claims

1. In an autonomously navigated surface based vehicle, a system for controlling the vehicle comprising:

(1) first means for managing the sytem for controlling the vehicle, responsive to commands from either a vehicle navigation system or a remote control panel;

(2) second means for controlling speed of the vehicle in response to commands from said first means;

(3) third means for controlling steering of the vehicle in response to commands from said first means;

(4) fourth means for controlling auxiliary functions of the vehicle in response to commands from said first means;

(5) fifth means for monitoring the vehicle'"'"'s status and operation of the first through fourth means in respone to commands from said first means;

(6) first bus means for interconnecting said first through fifth means; and

(7) shutdown means, connected to said first through fifth means, for shutting down the vehicle in repsone to an error condition in any of said first through fifth means.

2. In an autonomously navigated surface based vehicle, a system for controlling the vehicle comprising:

a vehicle manager, including a first microprocessor, for receiving commands from a vehicle navigation system or a remote control panel, for responding to said commands, and for controlling vehicle subsystems including a speed control subsystem, a steering control subsystem, an auxiliary control subsystem, and a monitor subsystem;

said speed control subsystem, including a second microprocessor, for controlling a speed of the vehicle in response to a speed command from said vehicle manager;

said steering control subsystem, including a third microprocessor, for controlling a steering angle of the vehicle in response to a steering command from said vehicle manager;

said auxiliary control subsystem, including a fourth microprocessor, for controlling auxiliary functions of the vehicle in response to an auxiliary command from said vehicle manager;

said monitor subsystem, including a fifth microprocessor, for monitoring a status of the vehicle and an operation of each of said speed control subsystem, said steering control subsystem, said auxiliary control subsystem, and said monitor subsystem; and

a data bus for interconnecting said vehicle manager and each of said vehicle subsystems so that said vehicle manager can communicate with said vehicle subsystems.

3. The system of claim 2, further comprising:

shutdown means, connected to said vehicle manager and said vehicle subsystems, for shutting down the vehicle in response to an error condition in any of said vehicle manager and said vehicle subsystems.

4. The system of claim 2, wherein said speed control subsystem comprises:

means for controlling a governor on an engine of the vehicle;

means for controlling a brake on the vehicle; and

means for controlling a transmission on the vehicle.

5. The system of claim 2, wherein said steering control subsystem comprises:

means for adjusting a steering angle of a pair of wheels on the vehicle; and

means for measuring said steering angle.

6. The system of claim 2, wherein said auxiliary control subsystem comprises:

means for controlling starting of an engine of the vehicle;

means for controlling stopping of said engine;

means for controlling a horn on the vehicle;

means for controlling a bed on the vehicle;

means for controlling a parking brake of the vehicle; and

means for controlling lights on the vehicle.

7. In an autonomously navigated surface based vehicle, a method for controlling the vehicle comprising the steps of:

managing control of the vehicle via a first microprocessor located in a vehicle manager, said step of managing control of the vehicle including the steps of

receiving at said vehicle manager commands from a vehicle navigation system or a remote control panel, and

directing vehicle subsystems to respond to said received commands, said vehicle subsystems including a speed control subsystem, a steering control subsystem, an auxiliary control subsystem, and a monitor subsystem, each vehicle subsystem having its own microprocessor;

controlling, via said speed control subsystem, a speed of the vehicle in response to a speed command from said vehicle manager;

controlling, via said steering control subsystem, a steering angle of the vehicle in response to a steering command from said vehicle manager;

controlling, via said auxiliary control subsystem, auxiliary functions of the vehicle in response to an auxiliary command from said vehicle manager;

monitoring, via said monitor subsystem, a status of the vehicle; and

monitoring, via a bus interconnecting each of said vehicle subsystems, an operation of each of said vehicle subsystems, said step of monitoring performed by each of said vehicle subsystems.

8. The method of claim 7, further comprising the step of:

shutting down the vehicle in response to an error condition in any of said vehicle manager and said vehicle subsystems.

9. The method of claim 7, wherein said step of controlling said speed of the vehicle comprises the steps of:

controlling a governor on an engine of the vehicle;

controlling a brake on the vehicle; and

controlling a transmission on the vehicle.

10. The method of claim 7, wherein said step of controlling said steering of the vehicle comprises the steps of:

controlling a steering angle of a pair of wheels on the vehicle; and

receiving a measurement from a resolver that measures said steering angle.

11. The method of claim 7, wherein said step of controlling auxiliary functions of the vehicle comprises the steps of:

controlling starting of an engine of the vehicle;

controlling stopping of said engine;

controlling a horn on the vehicle;

controlling a bed on the vehicle;

controlling a parking brake of the vehicle; and

controlling lights on the vehicle.