US5680306A
Expired / Lapsed
US
⏱️ 0.0 years remaining
System, and method for enabling a vehicle to track a path
Assignee: Caterpillar Inc
•
Filing: 1995-05-01
•
Granted: 1997-10-21
•
Expires: 2015-05-01
Abstract
Abstract A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910).
Inventors
- 👤 Dong Hun Shin
- 👤 William L. Whittaker
- 👤 Sanjiv J. Singh
- 👤 Lonnie J. Devier
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-28 16:08
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0268; G05D1/027; B; B60; B60K; B60K31/00; B60K31/0008; B60K31/02; B60K31/04; B62; B62D; B62D1/00; B62D1/24; B62D1/28; G01; G01S; G01S19/00; G01S19/01; G01S19/03; G01S19/10; G01S19/11; G01S19/38; G01S19/39; G01S19/42; G01S19/45; G01S19/46; G01S19/47; G05D1/0011; G05D1/0231; G05D1/0238; G05D1/024; G05D1/0242; G05D1/0272; G05D1/0276; G05D1/0278; G05D1/0287; G05D1/0291; G05D1/0297; G08; G08G; G08G1/00; G08G1/20; G08G1/202; G01S17/00; G01S17/02; G01S17/06; G01S17/42; G01S17/86; G01S17/88; G01S17/93; G01S17/931; G01S19/13; G01S19/24; G01S19/27; G01S19/40; G01S19/41; G01S19/52; G01S5/00; G01S5/0009; G01S5/009; G01S7/00; G01S7/48; G01S7/481; G01S7/4811
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
76 words
A system for enabling a vehicle to track a preset path comprising: means for executing vehicle commands that cause the vehicle to attempt to follow the preset path; means for periodically calculating errors in following the preset path; and means for adjusting said vehicle commands based on said calculated errors to reduce said calculated errors, wherein said means for adjusting includes means for constructing a smooth path back to the preset path using a quintic polynomial.
Claim 2
Independent Claim
76 words
A system for enabling a vehicle to track a preset path comprising: means for executing vehicle commands that cause the vehicle to attempt to follow the preset path; means for periodically calculating errors in following the preset path; and means for adjusting said vehicle commands based on said calculated errors to reduce said calculated errors, wherein said means for adjusting includes means for constructing a smooth path back to the preset path using a quintic polynomial.
Claim 3
Dependent Claim
35 words
The system of claim 1, wherein said means for adjusting further comprises means for compensating for vehicle response characteristics, said vehicle response characteristics including latency of vehicle control commands, system response delay and vehicle dynamics.
Claim 4
Dependent Claim
17 words
The system of claim 2, wherein said vehicle dynamics includes vehicle-ground interaction, slip angle and under/over steering.
Claim 5
Dependent Claim
24 words
The system of claim 1, wherein said means for adjusting further comprises means for compensating for sensing and actuation timing characteristics of said system.
Claim 6
Dependent Claim
27 words
The system of claim 1, wherein said means for adjusting further comprises means for varying a look-ahead distance based on a speed of travel of said vehicle.
Claim 7
Dependent Claim
24 words
The system of claim 1, wherein said means for adjusting further comprises means for adjusting control of the vehicle using an optimal control system.
Claim 8
Dependent Claim
49 words
The system of claim 1, wherein said vehicle commands include steering control aspects and speed control aspects, and wherein said means for executing comprises: means for executing said steering control aspects; and means for executing said speed control aspects, wherein steering and speed control of the vehicle are decoupled.
Claim 9
Independent Claim
74 words
A method for enabling a vehicle to track a preset path comprising the steps of: executing vehicle commands that cause the vehicle to attempt to follow the preset path; periodically calculating errors in following the preset path; and adjusting said vehicle commands based on said calculated errors to reduce said calculated errors, wherein said step of adjusting includes the step of constructing a smooth path back to the preset path using a quintic polynomial.
Claim 10
Independent Claim
74 words
A method for enabling a vehicle to track a preset path comprising the steps of: executing vehicle commands that cause the vehicle to attempt to follow the preset path; periodically calculating errors in following the preset path; and adjusting said vehicle commands based on said calculated errors to reduce said calculated errors, wherein said step of adjusting includes the step of constructing a smooth path back to the preset path using a quintic polynomial.
Claim 11
Dependent Claim
36 words
The method of claim 8, wherein said step of adjusting further comprises the step of compensating for vehicle response characteristics, said vehicle response characteristics including latency of vehicle control commands, system response delay and vehicle dynamics.
Claim 12
Dependent Claim
17 words
The method of claim 9, wherein said vehicle dynamics includes vehicle-ground interaction, slip angle and under/over steering.
Claim 13
Dependent Claim
25 words
The method of claim 8, wherein said step of adjusting further comprises the step of compensating for sensing and actuation timing characteristics of said system.
Claim 14
Dependent Claim
28 words
The method of claim 8, wherein said step of adjusting further comprises the step of varying a look-ahead distance based on a speed of travel of said vehicle.
Claim 15
Dependent Claim
25 words
The method of claim 8, wherein said step of adjusting further comprises the step of adjusting control of the vehicle using an optimal control system.
Claim 16
Dependent Claim
48 words
The method of claim 8, wherein said vehicle commands include steering control aspects and speed control aspects, and wherein said step of executing comprises the steps of: executing said steering control aspects, and executing said speed control aspects, wherein steering and speed control of the vehicle are decoupled.
References Cited (Backward Citations)
US4727492A
Cited
US4638445A
Cited
US4758959A
Cited
US4817000A
Cited
US4809178A
Cited
US5083256A
Cited
US4986384A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2000-10-20 | 2001-04-21 | 2001-10-21 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-10-20 | 2005-04-21 | 2005-10-21 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-10-20 | 2009-04-21 | 2009-10-21 | $7700.00 | Window Closed / Lapsed |