US5684696A
Expired / Lapsed
US
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System and method for enabling an autonomous vehicle to track a desired path
Assignee: Caterpillar Inc
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Filing: 1995-05-01
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Granted: 1997-11-04
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Expires: 2015-05-01
Abstract
Abstract A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle's position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial.
Inventors
- 👤 Prithvi N. Rao
- 👤 Dong Hun Shin
- 👤 William L. Whittaker
- 👤 Karl W. Kleimenhagen
- 👤 Sanjiv J. Singh
- 👤 Carl A. Kemner
- 👤 Walter J. Bradbury
- 👤 Craig L. Koehrsen
- 👤 Joel L. Peterson
- 👤 Larry E. Schmidt
- 👤 Lonnie J. Devier
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 16:39
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: 24
Claim 1
Independent Claim
168 words
A system for use with an autonomous vehicle for enabling the vehicle to track a desired vehicle path, the system comprising: means for providing the desired vehicle path to the vehicle; means for executing a vehicle command that causes the vehicle to attempt to follow the desired vehicle path; means for determining an actual vehicle position; means for determining an error between said actual vehicle position and the desired vehicle path; and means for reducing said error between said actual vehicle position and the desired vehicle path including means for planning a continuous path from said actual vehicle position to the desired vehicle path based on said error so that said continuous path converges to the desired vehicle path at a lookahead distance, wherein said continuous path is a quintic polynomial based on said actual vehicle position, the desired vehicle path, and said lookahead distance, and means for compensating for vehicle response characteristics of the vehicle using feedback compensation to cause the vehicle to follow said continuous path.
Claim 2
Independent Claim
168 words
A system for use with an autonomous vehicle for enabling the vehicle to track a desired vehicle path, the system comprising: means for providing the desired vehicle path to the vehicle; means for executing a vehicle command that causes the vehicle to attempt to follow the desired vehicle path; means for determining an actual vehicle position; means for determining an error between said actual vehicle position and the desired vehicle path; and means for reducing said error between said actual vehicle position and the desired vehicle path including means for planning a continuous path from said actual vehicle position to the desired vehicle path based on said error so that said continuous path converges to the desired vehicle path at a lookahead distance, wherein said continuous path is a quintic polynomial based on said actual vehicle position, the desired vehicle path, and said lookahead distance, and means for compensating for vehicle response characteristics of the vehicle using feedback compensation to cause the vehicle to follow said continuous path.
Claim 3
Dependent Claim
29 words
The system of claim 1, wherein said means for executing a vehicle command comprises: means for executing a speed control command; and means for executing a steering control command.
Claim 4
Dependent Claim
46 words
The system of claim 1, wherein said means for reducing said error between said actual vehicle position and the desired vehicle path further includes: means for compensating for latency in said vehicle response characteristics using feedforward compensation to cause the vehicle to follow said continuous path.
Claim 5
Dependent Claim
29 words
The system of claim 3, wherein said means for executing a vehicle command comprises: means for executing a speed control command; and means for executing a steering control command.
Claim 6
Dependent Claim
21 words
The system of claim 4, wherein said means for compensating for latency comprises: means for feeding forward an early steering command.
Claim 7
Dependent Claim
40 words
The system of claim 5, wherein said means for feeding forward an early steering command includes: means for using a preselected number of time constants associated with said latency in said vehicle response characteristics to advance said early steering command.
Claim 8
Dependent Claim
25 words
The system of claim 1, wherein said means for planning a continuous path comprises: means for varying said lookahead distance based on a vehicle speed.
Claim 9
Independent Claim
160 words
A method for use in an autonomous vehicle that enables the vehicle to track a desired vehicle path, the method comprising the steps of: providing the desired vehicle path to the vehicle; executing a vehicle command that causes the vehicle to attempt to follow the desired vehicle path; determining an actual vehicle position; determining an error between said actual vehicle position and the desired vehicle path; and reducing said error between said actual vehicle position and the desired vehicle path including the steps of planning a continuous path from said actual vehicle position to the desired vehicle path based on said error so that said continuous path converges to the desired vehicle path at a lookahead distance, wherein said continuous path is a quintic polynomial based on said actual vehicle position, the desired vehicle path, and said lookahead distance, and compensating for vehicle response characteristics of the vehicle using feedback compensation to cause the vehicle to follow said continuous path.
Claim 10
Independent Claim
160 words
A method for use in an autonomous vehicle that enables the vehicle to track a desired vehicle path, the method comprising the steps of: providing the desired vehicle path to the vehicle; executing a vehicle command that causes the vehicle to attempt to follow the desired vehicle path; determining an actual vehicle position; determining an error between said actual vehicle position and the desired vehicle path; and reducing said error between said actual vehicle position and the desired vehicle path including the steps of planning a continuous path from said actual vehicle position to the desired vehicle path based on said error so that said continuous path converges to the desired vehicle path at a lookahead distance, wherein said continuous path is a quintic polynomial based on said actual vehicle position, the desired vehicle path, and said lookahead distance, and compensating for vehicle response characteristics of the vehicle using feedback compensation to cause the vehicle to follow said continuous path.
Claim 11
Dependent Claim
28 words
The method of claim 8, wherein said step of executing a vehicle command comprises the steps of: executing a speed control command; and executing a steering control command.
Claim 12
Dependent Claim
47 words
The method of claim 8, wherein said step of reducing said error between said actual vehicle position and the desired vehicle path further includes the step of: compensating for latency in said vehicle response characteristics using feedforward compensation to cause the vehicle to follow said continuous path.
Claim 13
Dependent Claim
28 words
The method of claim 10, wherein said step of executing a vehicle command comprises the steps of: executing a speed control command; and executing a steering control command.
Claim 14
Dependent Claim
22 words
The method of claim 11, wherein said step of compensating for latency comprises the step of: feeding forward an early steering command.
Claim 15
Dependent Claim
41 words
The method of claim 12, wherein said step of feeding forward an early steering command includes the step of: using a preselected number of time constants associated with said latency in said vehicle response characteristics to advance said early steering command.
Claim 16
Dependent Claim
28 words
The method of claim 8, wherein said step of planning a continuous path comprises the step of: means for varying said lookahead distance based on a vehicle speed.
Claim 17
Independent Claim
154 words
A system for use with an autonomous vehicle for enabling the vehicle to track a desired vehicle path, the system comprising: means for providing the desired vehicle path to the vehicle; means for executing a vehicle command that causes the vehicle to attempt to follow the desired vehicle path; means for determining an actual vehicle position; means for determining an error between said actual vehicle position and the desired vehicle path; and means for reducing said error between said actual vehicle position and the desired vehicle path including means for planning a continuous path from said actual vehicle position to the desired vehicle path based on said error so that said continuous path converges to the desired vehicle path at a lookahead distance, wherein said continuous path is based on said actual vehicle position, the desired vehicle path, and said lookahead distance, and means for varying said lookahead distance based on a vehicle speed.
Claim 18
Independent Claim
154 words
A system for use with an autonomous vehicle for enabling the vehicle to track a desired vehicle path, the system comprising: means for providing the desired vehicle path to the vehicle; means for executing a vehicle command that causes the vehicle to attempt to follow the desired vehicle path; means for determining an actual vehicle position; means for determining an error between said actual vehicle position and the desired vehicle path; and means for reducing said error between said actual vehicle position and the desired vehicle path including means for planning a continuous path from said actual vehicle position to the desired vehicle path based on said error so that said continuous path converges to the desired vehicle path at a lookahead distance, wherein said continuous path is based on said actual vehicle position, the desired vehicle path, and said lookahead distance, and means for varying said lookahead distance based on a vehicle speed.
Claim 19
Dependent Claim
35 words
The system of claim 15, wherein said means for reducing error further comprises: means for compensating for vehicle response characteristics of the vehicle using feedback compensation to cause the vehicle to follow said continuous path.
Claim 20
Dependent Claim
68 words
The system of claim 15, wherein said means for planning comprises: means for planning a continuous path from said actual vehicle position to the desired vehicle path based on said error so that said continuous path converges to the desired vehicle path at a lookahead distance, wherein said continuous path is a quintic polynomial based on said actual vehicle position, the desired vehicle path, and said lookahead distance.
Claim 21
Dependent Claim
46 words
The system of claim 15, wherein said means for reducing said error between said actual vehicle position and the desired vehicle path further includes: means for compensating for latency in said vehicle response characteristics using feedforward compensation to cause the vehicle to follow said continuous path.
Claim 22
Dependent Claim
29 words
The system of claim 18, wherein said means for executing a vehicle command comprises: means for executing a speed control command; and means for executing a steering control command.
Claim 23
Dependent Claim
21 words
The system of claim 19, wherein said means for compensating for latency comprises: means for feeding forward an early steering command.
Claim 24
Dependent Claim
40 words
The system of claim 20, wherein said means for feeding forward an early steering command includes: means for using a preselected number of time constants associated with said latency in said vehicle response characteristics to advance said early steering command.
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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) | 2000-11-03 | 2001-05-05 | 2001-11-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-11-03 | 2005-05-05 | 2005-11-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-11-03 | 2009-05-05 | 2009-11-04 | $7700.00 | Window Closed / Lapsed |