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1. 发明授权

US5850341A Method and apparatus for monitoring material removal using mobile machinery 失效
标题翻译：使用移动机械监测材料去除的方法和装置
公开(公告)号：US5850341A
公开(公告)日：1998-12-15
申请号：US241305
申请日：1994-06-30
申请人： Richard J. Fournier , Doug S. Gordon , Adam J. Gudat , Gregory R. Harrod , Daniel E. Henderson , Karl W. Kleimenhagen , William C. Sahm , Charles L. Schaidle , Ken R. Setterlund , Ron J. Siroky
发明人： Richard J. Fournier , Doug S. Gordon , Adam J. Gudat , Gregory R. Harrod , Daniel E. Henderson , Karl W. Kleimenhagen , William C. Sahm , Charles L. Schaidle , Ken R. Setterlund , Ron J. Siroky
IPC分类号： E02F9/20 , G01C21/00 , G01S5/14 , G01S19/19 , E21B21/06
CPC分类号： E02F9/205 , E02F9/2045 , G01C21/00
摘要： A method and apparatus for monitoring in real time the removal of material from a land site such as a mine by a mobile machine. A digitized three-dimensional model of the site is stored in a digital data storage and retrieval facility. The site model includes a model of the material to be removed subdivided into regions of differentiating characteristics, for example ore grade or type. The machine is provided with means for generating digital signals representing in real time the instantaneous position in three-dimensional space of at least a portion of the machine as it traverses the site. Loading signals are generated corresponding to the removal of material from the site by the machine, and an instantaneous loading position for the mobile machine relative to the site is recorded in response to the loading signal. The invention preferably includes a payload measurement system which measures each discrete load of material removed. The characteristics of the site material at the recorded loading position are correlated to the material removed from the site. In a preferred form a dynamic site database is used to update the site as material is removed and direct the machinery in altering the site to a desired state.
摘要翻译：一种用于通过移动机器实时地监测诸如矿井的陆地地点的材料的方法和装置。该站点的数字化三维模型存储在数字数据存储和检索设施中。场地模型包括将要移除的材料的模型细分为区分特征区域，例如矿石级或类型。该机器具有用于产生数字信号的装置，该数字信号在机器的至少一部分穿过该位置时实时表示三维空间中的瞬时位置。相应于由机器从现场移除材料产生加载信号，并且响应于加载信号记录移动机器相对于现场的瞬时加载位置。本发明优选地包括测量除去的材料的每个离散载荷的有效载荷测量系统。记录装载位置的场地材料的特征与从现场移除的材料相关。在优选形式中，动态站点数据库用于在材料被移除时更新站点，并将机器改变为所需状态。

2. 发明授权

US5631658A Method and apparatus for operating geography-altering machinery relative to a work site 失效
标题翻译：用于相对于工作现场操作改变地理位置的机器的方法和装置
公开(公告)号：US5631658A
公开(公告)日：1997-05-20
申请号：US607542
申请日：1996-02-27
申请人： Adam J. Gudat , Daniel E. Henderson , Gregory R. Harrod , Karl W. Kleimenhagen
发明人： Adam J. Gudat , Daniel E. Henderson , Gregory R. Harrod , Karl W. Kleimenhagen
IPC分类号： A01B79/00 , E01C19/00 , E02F9/20 , G01C7/04 , G01C15/00 , G01S19/48 , G05D1/02 , G06F19/00 , G01S3/02 , G01S5/02
CPC分类号： E02F9/2045 , A01B79/005 , E01C19/004 , G05D1/0278 , G05D1/0236 , G05D1/0255 , G05D1/0257 , G05D1/0274 , G05D2201/0202
摘要： A method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model of the desired site geography, and a second digital three-dimensional model of the actual site geography are stored in a digital data storage facility. The machine is equipped with a position receiver to determine in three-dimensional space the location of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual site geography into conformity with the desired site geography. In one embodiment, the signals representing the machine position and the difference between the first and second site models used to generate an operator display which is updated in real time. Alternately, the signals representing the difference between the first and second site models can be supplied to automatic machine controls for autonomous or semi-autonomous operation of the machine.
摘要翻译：用于相对于工作现场操作诸如轨道式拖拉机，道路平地机，摊铺机等的地理变化机械的方法和装置，以将站点的地理位置改变到期望的状态。所需位置地理学的第一数字三维模型和实际站点地理学的第二数字三维模型被存储在数字数据存储设施中。该机器配备有位置接收器，用于在三维空间中确定机器相对于现场的位置。动态数据库接收机器位置信息，确定第一和第二站点模型之间的差异，并产生该差异的表示信号，用于指导机器的操作，以使实际站点地理位置与期望的站点地理位置一致。在一个实施例中，表示机器位置的信号和用于生成实时更新的操作者显示器的第一和第二站点模型之间的差异。或者，表示第一和第二站点模型之间的差异的信号可以被提供给机器的自动或半自主操作的自动机器控制。

3. 发明授权

US5526002A Method and apparatus for operating geography-altering machinery relative to a work site 失效
标题翻译：用于相对于工作现场操作改变地理位置的机器的方法和装置
公开(公告)号：US5526002A
公开(公告)日：1996-06-11
申请号：US527992
申请日：1995-09-13
申请人： Adam J. Gudat , Daniel E. Henderson , Gregory R. Harrod , Karl W. Kleimenhagen
发明人： Adam J. Gudat , Daniel E. Henderson , Gregory R. Harrod , Karl W. Kleimenhagen
IPC分类号： A01B79/00 , E01C19/00 , E02F9/20 , G01C7/04 , G01C15/00 , G01S19/48 , G05D1/02 , G01S3/02 , G01S5/02 , G06F7/70 , H04B7/185
CPC分类号： E02F9/2045 , A01B79/005 , E01C19/004 , G05D1/0236 , G05D1/0255 , G05D1/0257 , G05D1/0274 , G05D1/0278 , G05D2201/0202
摘要： A method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model of the desired site geography, and a second digital three-dimensional model of the actual site geography are stored in a digital data storage facility. The machine is equipped with a position receiver to determine in three-dimensional space the location of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual site geography into conformity with the desired site geography. In one embodiment, the signals representing the machine position and the difference between the first and second site models used to generate an operator display which is updated in real time. Alternately, the signals representing the difference between the first and second site models can be supplied to automatic machine controls for autonomous or semi-autonomous operation of the machine.
摘要翻译：用于相对于工作现场操作诸如轨道式拖拉机，道路平地机，摊铺机等的地理变化机械的方法和装置，以将站点的地理位置改变到期望的状态。所需位置地理学的第一数字三维模型和实际站点地理学的第二数字三维模型被存储在数字数据存储设施中。该机器配备有位置接收器，用于在三维空间中确定机器相对于现场的位置。动态数据库接收机器位置信息，确定第一和第二站点模型之间的差异，并产生该差异的表示信号，用于指导机器的操作，以使实际站点地理位置与期望的站点地理位置一致。在一个实施例中，表示机器位置的信号和用于生成实时更新的操作者显示器的第一和第二站点模型之间的差异。或者，表示第一和第二站点模型之间的差异的信号可以被提供给机器的自动或半自主操作的自动机器控制。

4. 发明授权

US5646845A System and method for controlling an autonomously navigated vehicle 失效
标题翻译：用于控制自主导航车辆的系统和方法
公开(公告)号：US5646845A
公开(公告)日：1997-07-08
申请号：US432561
申请日：1995-05-01
申请人： Adam J. Gudat , William L. Whittaker , Karl W. Kleimenhagen , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
发明人： Adam J. Gudat , William L. Whittaker , Karl W. Kleimenhagen , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F19/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： 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.
摘要翻译：用于控制自主导航车辆的系统和方法使用车辆管理器来控制车辆子系统并响应来自车辆导航系统或遥控面板的命令。车辆管理员控制车辆子系统，包括速度控制子系统，转向控制子系统，辅助控制子系统和监控子系统。速度控制子系统响应于来自车辆管理器的速度指令来控制车辆的速度。转向控制子系统响应于来自车辆管理器的转向指令来控制车辆的转向角。辅助控制子系统响应来自车辆管理器的辅助命令控制车辆的辅助功能。监视器子系统监视每个其他子系统的状态，并向车辆管理器提供状态。

5. 发明授权

US5648901A System and method for generating paths in an autonomous vehicle 失效
标题翻译：用于在自主车辆中生成路径的系统和方法
公开(公告)号：US5648901A
公开(公告)日：1997-07-15
申请号：US432396
申请日：1995-05-01
申请人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
发明人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06G7/70
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： A system for generating a path allows a vehicle to traverse a predetermined route. The system stores route data for the predetermined route. The route data identifies a series of contiguous path segments that form the predetermined route. The route data also identifies a series of nodes located at the beginning and the end of the predetermined route and between adjacent path segments. Each path segment represents a series of postures along the predetermined route. Each posture identifies a position, a heading, and a curvature for the vehicle at a particular point along the predetermined route. The system stores the path segments and nodes as compressed path data. In one embodiment, the compressed path data is a function that is continuous in posture, i.e., continuous in position, heading and curvature. The system retrieves the compressed path data and generates a series of postures from the retrieved compressed path data to allow the vehicle to traverse the predetermined route.
摘要翻译：用于产生路径的系统允许车辆穿过预定路线。系统存储预定路线的路线数据。路线数据标识形成预定路线的一系列连续路径段。路线数据还标识位于预定路线的开始和结束处以及相邻路径段之间的一系列节点。每个路径段表示沿着预定路线的一系列姿势。每个姿势识别沿着预定路线的特定点处的车辆的位置，航向和曲率。系统将路径段和节点存储为压缩路径数据。在一个实施例中，压缩路径数据是在姿态上连续的功能，即在位置上连续，行程和曲率。系统检索压缩路径数据，并从检索到的压缩路径数据生成一系列姿势，以允许车辆穿过预定路线。

6. 发明授权

US5615116A Apparatus and method for autonomous vehicle navigation using path data 失效
标题翻译：自动车辆导航使用路径数据的装置和方法
公开(公告)号：US5615116A
公开(公告)日：1997-03-25
申请号：US431815
申请日：1995-05-01
申请人： Adam J. Gudat , Prithvi N. Rao , Gary K. Shaffer , WenFan Shi , Dong H. Shin , William L. Whittaker , Karl W. Kleimenhagen , Jay H. West , Richard G. Clow , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
发明人： Adam J. Gudat , Prithvi N. Rao , Gary K. Shaffer , WenFan Shi , Dong H. Shin , William L. Whittaker , Karl W. Kleimenhagen , Jay H. West , Richard G. Clow , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： An apparatus and method for navigating a vehicle along a predetermined route use route data and path data to define the predetermined route. The route data represents one or more contiguous path segments between adjacent nodes along the predetermined route. The path data includes postures of the vehicle along each of the path segments. The postures define the desired position, heading, curvature and speed of vehicle at various locations along the path segments. The apparatus and method use the posture information to generate and track a path thereby allowing the vehicle to navigate along the predetermined route.
摘要翻译：用于沿着预定路线导航车辆的装置和方法使用路线数据和路径数据来定义预定路线。路线数据表示沿着预定路线的相邻节点之间的一个或多个相邻路段。路径数据包括沿着每个路径段的车辆的姿势。姿势定义沿着路径段的各个位置的车辆的期望位置，航向，曲率和速度。该装置和方法使用姿势信息来产生和跟踪路径，从而允许车辆沿预定路线导航。

7. 发明授权

US5610815A Integrated vehicle positioning and navigation system, apparatus and method 失效
标题翻译：综合车辆定位导航系统，装置及方法
公开(公告)号：US5610815A
公开(公告)日：1997-03-11
申请号：US487980
申请日：1990-02-05
申请人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Richard G. Clow , Lonnie J. Devier , Carl A. Kemner , Karl W. Kleimenhagen , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Prithvi N. Rao , Larry E. Schmidt , James W. Sennott , Gary K. Shaffer , Wenfan Shi , Dong H. Shin , Sanjiv J. Singh , Darrell E. Stafford , Louis J. Weinbeck , Jay H. West , William L. Whittaker , Baoxin Wu
发明人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Richard G. Clow , Lonnie J. Devier , Carl A. Kemner , Karl W. Kleimenhagen , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Prithvi N. Rao , Larry E. Schmidt , James W. Sennott , Gary K. Shaffer , Wenfan Shi , Dong H. Shin , Sanjiv J. Singh , Darrell E. Stafford , Louis J. Weinbeck , Jay H. West , William L. Whittaker , Baoxin Wu
IPC分类号： B60K31/00 , B60W30/14 , B60W50/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/0212 , G05D1/0223 , G05D1/024 , G05D1/0242 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , B60W2050/0077 , B60W2550/402 , B60W30/143 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0257 , G05D1/0259 , G05D1/0268 , G05D2201/0202
摘要： 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).
摘要翻译： PCT No.PCT / US89 / 05580。 371 1990年2月5日第 102（e）1990年2月5日PCT PCT 1989年12月11日PCT公布。公开号WO91 / 09375 日期1991年6月27日用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

8. 发明授权

US5956250A Apparatus and method for autonomous vehicle navigation using absolute data 失效
标题翻译：使用绝对数据的自动车辆导航的装置和方法
公开(公告)号：US5956250A
公开(公告)日：1999-09-21
申请号：US431594
申请日：1995-05-01
申请人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Richard G. Clow , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
发明人： Adam J. Gudat , Dong Hun Shin , William L. Whittaker , Karl W. Kleimenhagen , Richard G. Clow , Sanjiv J. Singh , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F19/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： A system and method for controlling the navigation of surface based vehicle uses a route that is obtained by manually driving the vehicle over the route to collect data defining the absolute position of the vehicle at various positions along the route. The collected data is smoothed to provide a consistent route to be followed. The smoothed data is subsequently used to automatically guide the vehicle over the route.
摘要翻译：用于控制基于表面的车辆的导航的系统和方法使用通过在路线上手动驾驶车辆而获得的路线，以收集在沿着路线的各个位置处定义车辆的绝对位置的数据。收集的数据被平滑以提供要遵循的一致的路线。平滑的数据随后用于自动地引导车辆在路线上。

9. 发明授权

US5646843A Apparatus and method for surface based vehicle control system 失效
标题翻译：基于表面的车辆控制系统的装置和方法
公开(公告)号：US5646843A
公开(公告)日：1997-07-08
申请号：US432041
申请日：1995-05-01
申请人： Adam J. Gudat , Karl W. Kleimenhagen , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
发明人： Adam J. Gudat , Karl W. Kleimenhagen , Dana A. Christensen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06G7/70
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： An apparatus and method for controlling a surface-based vehicle provides three operational modes: a manual operation, a tele-operation, and an autonomous operation. In manual operation, an operator directly manipulates vehicle controls on the vehicle. In tele-operation, the operator controls the vehicle from a remote position. In autonomous operation, the vehicle controls itself based on its position and a predetermined path. The apparatus and method of the present invention provides an orderly transition between manual operation, tele-operation, and autonomous operation of the vehicle.
摘要翻译：用于控制基于表面的车辆的装置和方法提供三种操作模式：手动操作，远程操作和自主操作。在手动操作中，操作者直接操纵车辆上的车辆控制。在远程操作中，操作员从远程位置控制车辆。在自主操作中，车辆基于其位置和预定路径来控制自身。本发明的装置和方法提供了手动操作，远程操作和车辆的自主操作之间的有序转变。

10. 发明授权

US5838562A System and a method for enabling a vehicle to track a preset path 失效
标题翻译：系统和用于使车辆跟踪预设路径的方法
公开(公告)号：US5838562A
公开(公告)日：1998-11-17
申请号：US432248
申请日：1995-05-01
申请人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Carl A. Kemner , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier , Prithvi N. Rao , Gary K. Shaffer , Wenfan Shi , Dong Hun Shin , James W. Sennott , William L. Whittaker , Jay H. West , Karl W. Kleimenhagen , Richard G. Clow , Baoxin Wu , Sanjiv J. Singh
发明人： Adam J. Gudat , Walter J. Bradbury , Dana A. Christensen , Carl A. Kemner , Craig L. Koehrsen , Christos T. Kyrtsos , Norman K. Lay , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck , Lonnie J. Devier , Prithvi N. Rao , Gary K. Shaffer , Wenfan Shi , Dong Hun Shin , James W. Sennott , William L. Whittaker , Jay H. West , Karl W. Kleimenhagen , Richard G. Clow , Baoxin Wu , Sanjiv J. Singh
IPC分类号： B60K31/00 , B62D1/28 , G01C21/16 , G01C21/20 , G01S1/00 , G01S5/00 , G01S5/14 , G01S7/481 , G01S17/02 , G01S17/42 , G01S17/93 , G01S19/41 , G01S19/47 , G01S19/48 , G05D1/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G08G1/127 , G06F165/00
CPC分类号： G05D1/027 , B60K31/0008 , B60K31/04 , B62D1/28 , G01S19/11 , G01S19/46 , G01S19/47 , G05D1/0011 , G05D1/024 , G05D1/0242 , G05D1/0272 , G05D1/0278 , G05D1/0297 , G08G1/202 , G01S17/023 , G01S17/42 , G01S17/936 , G01S19/27 , G01S19/41 , G01S19/52 , G01S5/009 , G01S7/4811 , G05D1/0268 , G05D2201/0202
摘要： 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).
摘要翻译：用于定位和导航自主车辆（310）的系统（400）允许车辆（310）在位置之间行进。当卫星（200,202,204和206）不在车辆视野中时，位置信息（432）从全球定位系统卫星（200,202,204和206）或其他源（624）导出（ 310）。使用位置信息（432），路线信息（414），障碍物检测和回避数据（416）以及车载数据（908和910）获得车辆（310）的导航。

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