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US5469356A
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System for controlling a vehicle to selectively allow operation in either an autonomous mode or a manual mode
Assignee: Caterpillar Inc
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Filing: 1994-09-01
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Granted: 1995-11-21
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Expires: 2014-09-01
Abstract
Abstract A system for controlling autonomous operation of a vehicle in response to speed and steering angle request signals from a navigator allows manual operation of the vehicle. The system includes a machine control module, an engine control module, and a transmission control module. An auto/manual select signal indicates to the machine control module whether operation should be in a fully autonomous mode or a manual mode. In the autonomous mode, a navigator produces a speed request signal and a steering angle request signal for the vehicle. The machine control module receives the speed and steering angle request signals from the navigator. From these inputs, the machine control module produces an engine RPM (revolutions per minute) control signal for the engine control module, a transmission control signal for the transmission control module, a brake control signal, and a steering angle control signal. In the manual mode, the machine control module will not interfere with normal, manual (i.e., manned) control of all vehicle systems.
Inventors
- 👤 Mark R. Hawkins
- 👤 Joel L. Peterson
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 06:09
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/0055; G05D1/0061; G01; G01C; G01C21/00; G01C21/26; G05D1/0011; G05D1/0038
Claims Analysis
Total Claims: 15
Claim 1
Independent Claim
165 words
A system for controlling autonomous operation of a vehicle in response to a speed request signal and a steering angle request signal from a navigator and for selectively allowing manual operation of the vehicle, the system comprising: machine control means for receiving an auto/manual select signal, said speed request signal and said steering angle request signal and for producing a speed control signal, a steering angle signal, and an auto/manual control signal; speed control means for controlling the speed of the vehicle in response to said speed control signal and an operator input when said auto/manual control signal indicates autonomous operation and in response only to said operator input when said auto/manual control signal indicates manual operation; and steering control means for controlling the steering angle of the vehicle in response to said steering angle control signal and an operator input when said auto/manual control signal indicates autonomous operation and in response only to said operator input when said auto/manual control signal indicates manual operation.
Claim 2
Independent Claim
165 words
A system for controlling autonomous operation of a vehicle in response to a speed request signal and a steering angle request signal from a navigator and for selectively allowing manual operation of the vehicle, the system comprising: machine control means for receiving an auto/manual select signal, said speed request signal and said steering angle request signal and for producing a speed control signal, a steering angle signal, and an auto/manual control signal; speed control means for controlling the speed of the vehicle in response to said speed control signal and an operator input when said auto/manual control signal indicates autonomous operation and in response only to said operator input when said auto/manual control signal indicates manual operation; and steering control means for controlling the steering angle of the vehicle in response to said steering angle control signal and an operator input when said auto/manual control signal indicates autonomous operation and in response only to said operator input when said auto/manual control signal indicates manual operation.
Claim 3
Dependent Claim
214 words
The system of claim 1, wherein said machine control means comprises: a processor; and program means for enabling said processor to control autonomous operation of the vehicle said program means including navigator communications means for enabling said processor to receive said speed request signal and said steering angle request signal from the navigator, sensor means for enabling said processor to receive a measured steering angle, a measured speed and said auto/manual select signal, speed control signal means for enabling said processor to generate said speed control signal, in response to said speed request signal and said measured speed to control an engine, a transmission and a brake disposed in the vehicle and for enabling said processor to control the dumping of a body of the vehicle, steering means for enabling said processor to generate said steering angle control signal in response to said steering angle request signal and said measured steering angle, data link means for enabling said processor to communicate said speed control signal to an engine controller disposed in the vehicle and to communicate said steering control signal to a transmission controller disposed in the vehicle, and executive means for enabling said processor to supervise said program means and to generate said auto/manual control signal in response to said auto/manual select signal.
Claim 4
Dependent Claim
24 words
The system of claim 2, wherein said program means further comprises auxiliary means for enabling said processor to control auxiliary functions on the vehicle.
Claim 5
Independent Claim
163 words
A system for controlling autonomous operation of a vehicle in response to speed and steering angle request signals from a navigator and for selectively allowing manual operation of the vehicle, the system comprising: machine control means for receiving an auto/manual select signal, said speed request signal and said steering angle request signal and for producing an engine RPM control signal, a transmission control signal, a brake control signal, a steering angle control signal, and an auto/manual control signal; engine RPM control means for controlling an RPM of a vehicle engine in response to said RPM control signal when said auto/manual control signal indicates autonomous operation and in response to an operator input when said auto/manual control signal indicates manual operation; and transmission control means for controlling a gear selection in a vehicle transmission in response to said transmission control signal when said auto/manual control signal indicates autonomous operation and in response to an operator input when said auto/manual control signal indicates manual operation.
Claim 6
Independent Claim
163 words
A system for controlling autonomous operation of a vehicle in response to speed and steering angle request signals from a navigator and for selectively allowing manual operation of the vehicle, the system comprising: machine control means for receiving an auto/manual select signal, said speed request signal and said steering angle request signal and for producing an engine RPM control signal, a transmission control signal, a brake control signal, a steering angle control signal, and an auto/manual control signal; engine RPM control means for controlling an RPM of a vehicle engine in response to said RPM control signal when said auto/manual control signal indicates autonomous operation and in response to an operator input when said auto/manual control signal indicates manual operation; and transmission control means for controlling a gear selection in a vehicle transmission in response to said transmission control signal when said auto/manual control signal indicates autonomous operation and in response to an operator input when said auto/manual control signal indicates manual operation.
Claim 7
Dependent Claim
158 words
The system of claim 7, wherein said machine control means comprises: a processor; and program means for enabling said processor to control autonomous operation of the vehicle, said program means including navigator communications means for enabling said processor to receive said speed request signal and said steering angle request signal from the navigator, sensor means for enabling said processor to receive a measured steering angle, a measured speed and said auto/manual select signal, speed control means for enabling said processor to generate said RPM control signal, said transmission control signal and said brake control signal in response to said speed request signal and said measured speed, steering means for enabling said processor to generate said steering angle control signal in response to said steering angle request signal and said measured steering angle, and executive means for enabling said processor to supervise said program means and to generate said auto/manual control signal in response to said auto/manual select signal.
Claim 8
Dependent Claim
47 words
The system of claim 5, wherein said program means further comprises: data link means for enabling said processor to communicate said engine RPM control signal to said engine RPM control means and for enabling said processor to communicate said transmission control signal to said transmission control means.
Claim 9
Dependent Claim
24 words
The system of claim 6, wherein said program means further comprises: auxiliary means for enabling said processor to control auxiliary functions on the vehicle.
Claim 10
Independent Claim
273 words
A system for controlling autonomous operation of a vehicle in response to a speed request signal and a steering angle request signal generated by a navigator, comprising: a processor; and program means for enabling said processor to control autonomous operation of the vehicle, said program means including navigator communications means for enabling said processor to receive the speed request signal and the steering angle request signal from the navigator, p1 sensor means for enabling said processor to receive a measured steering angle, a measured speed and an auto/manual select signal, executive means for enabling said processor to supervise said program means and to generate an auto/manual control signal in response to said auto/manual select signal, speed control means for enabling said processor to control vehicle speed in response to the speed request signal and said measured speed only when said auto/manual control signal indicates autonomous operation, wherein said speed control means includes means for generating an engine RPM request signal in response to the speed request signal to adjust the RPM of an engine disposed in the vehicle, means for generating a transmission control signal in response to the speed request signal to adjust gear selection of a transmission disposed in the vehicle, and means for generating a brake control signal in the vehicle in response to the speed request signal to decrease the speed of the vehicle by applying a braking action on a brake disposed in the vehicle, and steering means for enabling said processor to control vehicle steering in response to the steering angle request signal and said measured steering angle only when said auto/manual control signal indicates autonomous operation.
Claim 11
Independent Claim
273 words
A system for controlling autonomous operation of a vehicle in response to a speed request signal and a steering angle request signal generated by a navigator, comprising: a processor; and program means for enabling said processor to control autonomous operation of the vehicle, said program means including navigator communications means for enabling said processor to receive the speed request signal and the steering angle request signal from the navigator, p1 sensor means for enabling said processor to receive a measured steering angle, a measured speed and an auto/manual select signal, executive means for enabling said processor to supervise said program means and to generate an auto/manual control signal in response to said auto/manual select signal, speed control means for enabling said processor to control vehicle speed in response to the speed request signal and said measured speed only when said auto/manual control signal indicates autonomous operation, wherein said speed control means includes means for generating an engine RPM request signal in response to the speed request signal to adjust the RPM of an engine disposed in the vehicle, means for generating a transmission control signal in response to the speed request signal to adjust gear selection of a transmission disposed in the vehicle, and means for generating a brake control signal in the vehicle in response to the speed request signal to decrease the speed of the vehicle by applying a braking action on a brake disposed in the vehicle, and steering means for enabling said processor to control vehicle steering in response to the steering angle request signal and said measured steering angle only when said auto/manual control signal indicates autonomous operation.
Claim 12
Dependent Claim
52 words
The system of claim 1, wherein said program means further comprises: data link means for enabling said processor to communicate said engine RPM request signal to an engine controller disposed in the vehicle and for enabling said processor to communicate said transmission control signal to a transmission controller disposed in the vehicle.
Claim 13
Dependent Claim
24 words
The system of claim 9, wherein said speed control means further comprises: means for controlling a dump position of a body of said vehicle.
Claim 14
Dependent Claim
24 words
The system of claim 10, wherein said program means further comprises: auxiliary means for enabling said processor to control auxiliary functions on the vehicle.
Claim 15
Dependent Claim
30 words
The system of claim 5, wherein said auxiliary means comprises: means for switching power to lights disposed in the vehicle; and means for sounding a horn disposed in the vehicle.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1998-11-20 | 1999-05-22 | 1999-11-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2002-11-20 | 2003-05-22 | 2003-11-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2006-11-20 | 2007-05-22 | 2007-11-21 | $7700.00 | Window Closed / Lapsed |