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11. 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。

12. 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。

13. 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。

14. 发明授权

US5359521A Method and apparatus for determining vehicle position using a satellite based navigation system 失效
标题翻译：使用基于卫星的导航系统来确定车辆位置的方法和装置
公开(公告)号：US5359521A
公开(公告)日：1994-10-25
申请号：US983697
申请日：1992-12-01
申请人： Christos T. Kyrtsos , Adam J. Gudat , Douglas W. Friedrich
发明人： Christos T. Kyrtsos , Adam J. Gudat , Douglas W. Friedrich
IPC分类号： G01S19/41 , G01S5/14 , G01S19/11 , G01S19/25 , G01S19/43 , G01S19/47 , G01S5/02 , H04B7/185
CPC分类号： G01S19/47 , G01S19/41 , G01S19/11 , G01S19/258 , G01S19/43
摘要： An apparatus and method for determining the position of a vehicle relative to the center of the Earth uses navigation signals from a satellite based navigation system which includes a plurality of satellites orbiting the Earth. In one embodiment, a plurality of antennas are mounted on the vehicle. The distance between the antennas is precisely known. This distance is used to constrain the solution of a vehicle position estimate to improve the accuracy of the position estimate. In another embodiment, a plurality of receiver systems are used in place of the plurality of antennas. In yet another embodiment, a plurality of base stations with known positions are used to constrain the solution of the vehicle position estimate.
摘要翻译：用于确定车辆相对于地球中心的位置的装置和方法使用来自基于卫星的导航系统的导航信号，该导航信号包括围绕地球的多个卫星。在一个实施例中，多个天线安装在车辆上。天线之间的距离是已知的。该距离用于约束车辆位置估计的解，以提高位置估计的准确性。在另一个实施例中，使用多个接收机系统来代替多个天线。在另一个实施例中，具有已知位置的多个基站用于约束车辆位置估计的解。

15. 发明授权

US5182712A Dynamic payload monitor 失效
标题翻译：动态负载监视器
公开(公告)号：US5182712A
公开(公告)日：1993-01-26
申请号：US582071
申请日：1990-09-14
申请人： Christos T. Kyrtsos , Adam J. Gudat
发明人： Christos T. Kyrtsos , Adam J. Gudat
IPC分类号： G01G19/10
CPC分类号： G01G19/10
摘要： An apparatus determines the payload carried in a work vehicle by monitoring the pressure of a fluid contained within front and rear suspension struts. The struts are connected in supporting relation between a load carrying portion and a ground engaging portion of the work vehicle such that a compression condition of the strut is detected while the work vehicle is in motion. Moreover, a pressure differential corresponding to the compression condition is indicative of the magnitude of the payload supported by the strut.
摘要翻译：装置通过监测包含在前悬挂支柱和后悬架支柱内的流体的压力来确定作业车辆中的载荷。支柱在作业车辆的承载部和地面接合部之间以支撑关系连接，使得在工作车辆运动时检测支柱的压缩状态。此外，对应于压缩状态的压差表示由支柱支撑的有效载荷的大小。

16. 发明授权

US4845975A Method for monitoring a work vehicle suspension 失效
标题翻译：监测工作车辆悬架的方法
公开(公告)号：US4845975A
公开(公告)日：1989-07-11
申请号：US137793
申请日：1988-03-02
申请人： Christos T. Kyrtsos , F. Paul Lutgen , Adam J. Gudat
发明人： Christos T. Kyrtsos , F. Paul Lutgen , Adam J. Gudat
IPC分类号： B60C23/00 , B60C23/06 , B60G17/0185 , G01M17/04
CPC分类号： G01M17/04 , B60C23/002 , B60G17/0185 , B60G2300/02 , B60G2300/026 , B60G2300/07 , B60G2400/204 , B60G2400/51 , B60G2400/52 , B60G2400/60 , B60G2600/02 , B60G2600/04 , B60G2600/08
摘要： Off-highway trucks generally rely on a suspension system which employs a plurality of gas-over-liquid type struts. These struts are critical to proper operation of the vehicle such that a single collapsed strut can have serious manifestations in structural damage, tire wear, and payload monitor accuracy. These consequences can be mitigated by an accurate and reliable strut monitor. Pressure type sensors are disposed on each of the struts and their pressure is monitored during three critical phases of operation. These phases include static, loading, and roading modes and each mode requires a distinct method for detecting a collapsing strut. The presence of a collapsing strut, detected by any of the three methods, is communicated to the vehicle operator whereby operation can be immediately suspended. The system avoids the serious consequences of vehicle operation with a collapsed strut by providing the operator with immediate and positive feedback on the condition of the struts.
摘要翻译：非公路卡车通常依赖于采用多个气体 - 液体型支柱的悬架系统。这些支柱对于车辆的正常操作至关重要，使得单个倒塌的支柱可以在结构损坏，轮胎磨损和有效载荷监视器精度方面具有严重的表现。这些后果可以通过准确可靠的支柱监视器来缓解。压力式传感器设置在每个支柱上，并且在三个关键操作阶段监控其压力。这些阶段包括静态，加载和漫游模式，每种模式都需要一种独特的方法来检测塌缩支柱。通过三种方法中的任何一种检测到的塌缩支柱的存在被传送到车辆操作者，从而可以立即暂停操作。该系统通过向操作者提供对支柱状况的即时和积极的反馈，避免车辆操作带有倒塌支柱的严重后果。

17. 发明授权

US4887454A Method for monitoring a work vehicle suspension 失效
公开(公告)号：US4887454A
公开(公告)日：1989-12-19
申请号：US294441
申请日：1989-01-09
申请人： Christos T. Kyrtsos , F. Paul Lutgen , Adam J. Gudat
发明人： Christos T. Kyrtsos , F. Paul Lutgen , Adam J. Gudat
IPC分类号： B60C23/00 , B60C23/06 , B60G17/0185 , G01M17/04
CPC分类号： G01M17/04 , B60C23/002 , B60G17/0185 , B60G2300/02 , B60G2300/026 , B60G2300/07 , B60G2400/204 , B60G2400/51 , B60G2400/52 , B60G2400/60 , B60G2600/02 , B60G2600/04 , B60G2600/08
摘要： Off-highway trucks generally rely on a suspension system which employs a plurality of gas-over-liquid type struts. These struts are critical to proper operation of the vehicle such that a single collapsed strut can have serious manifestations in structural damage, tire wear, and payload monitor accuracy. These consequences can be mitigated by an accurate and reliable strut monitor. Pressure type sensors are disposed on each of the struts and their pressure is monitored during three critical phases of operation. These phases include static, loading, and roading modes and each mode requires a distinct method for detecting a collapsing strut. The presence of a collapsing strut, detected by any of the three methods, is communicated to the vehicle operator whereby operation can be immediately suspended. The system avoids the serious consequences of vehicle operation with a collapsed strut by providing the operator with immediate and positive feedback on the condition of the struts.

18. 发明授权

US4744239A Method for monitoring a work vehicle suspension 失效
标题翻译：监测工作车辆悬架的方法
公开(公告)号：US4744239A
公开(公告)日：1988-05-17
申请号：US935870
申请日：1986-11-28
申请人： Christos T. Kyrtsos , Adam J. Gudat , F. Paul Lutgen
发明人： Christos T. Kyrtsos , Adam J. Gudat , F. Paul Lutgen
IPC分类号： B60G23/00 , B60C23/00 , B60C23/06 , B60G17/015 , B60G17/0185 , G01L17/00 , G01M17/04
CPC分类号： G01M17/04 , B60G17/0185 , B60G2300/02 , B60G2300/026 , B60G2300/07 , B60G2400/204 , B60G2400/51 , B60G2400/52 , B60G2400/60 , B60G2600/02 , B60G2600/04 , B60G2600/08
摘要： Off-highway trucks generally rely on a suspension system which employs a plurality of gas-over-liquid type struts. These struts are critical to proper operation of the vehicle such that a single collapsed strut can have serious manifestations in structural damage, tire wear, and payload monitor accuracy. These consequences can be mitigated by an accurate and reliable strut monitor. Pressure type sensors are disposed on each of the struts and their pressure is monitored during three critical phases of operation. These phases include static, loading, and roading modes and each mode requires a distinct method for detecting a collapsing strut. The presence of a collapsing strut, detected by any of the three methods, is communicated to the vehicle operator whereby operation can be immediately suspended. The system avoids the serious consequences of vehicle operation with a collapsed strut by providing the operator with immediate and positive feedback on the condition of the struts.
摘要翻译：非公路卡车通常依赖于采用多个气体 - 液体型支柱的悬架系统。这些支柱对于车辆的正常操作至关重要，使得单个倒塌的支柱可以在结构损坏，轮胎磨损和有效载荷监视器精度方面具有严重的表现。这些后果可以通过准确可靠的支柱监视器来缓解。压力式传感器设置在每个支柱上，并且在三个关键操作阶段监控其压力。这些阶段包括静态，加载和漫游模式，每种模式都需要一种独特的方法来检测塌缩支柱。通过三种方法中的任何一种检测到的塌缩支柱的存在被传送到车辆操作者，从而可以立即暂停操作。该系统通过向操作者提供对支柱状况的即时和积极的反馈，避免车辆操作带有倒塌支柱的严重后果。

19. 发明授权

US5452211A Method and system for determining vehicle position 失效
标题翻译：确定车辆位置的方法和系统
公开(公告)号：US5452211A
公开(公告)日：1995-09-19
申请号：US927037
申请日：1992-08-10
申请人： Christos T. Kyrtsos , Adam J. Gudat
发明人： Christos T. Kyrtsos , Adam J. Gudat
IPC分类号： G01C21/26 , G01S5/14 , G01S19/41 , G01S19/47 , G01C21/00
CPC分类号： G01S19/49 , G01C21/26
摘要： A system and method for estimating the terrestrial position of a vehicle is provided. The system receives electromagnetic signals from a single satellite and responsively produces successive ranges from the satellite to the vehicle and respective successive positions of the satellite. The vehicle's position is determined as a function of the successive ranges and positions.
摘要翻译：提供了一种用于估计车辆的地面位置的系统和方法。该系统从单个卫星接收电磁信号，并响应地产生从卫星到车辆的连续范围以及卫星的相应连续位置。车辆的位置被确定为连续的范围和位置的函数。

20. 发明授权

US5442558A Method and system for determining vehicle position based on a projected position of a satellite 失效
标题翻译：基于卫星的投影位置确定车辆位置的方法和系统
公开(公告)号：US5442558A
公开(公告)日：1995-08-15
申请号：US925150
申请日：1992-08-06
申请人： Christos T. Kyrtsos , Adam J. Gudat
发明人： Christos T. Kyrtsos , Adam J. Gudat
IPC分类号： G01S19/21 , G01S5/14 , G01S19/26 , G01S19/41 , G01S19/47 , G01S5/02
CPC分类号： G01S19/42 , G01S19/41 , G01S19/47
摘要： The present invention includes a system for estimating the terrestrial position of a vehicle. The system receives electromagnetic signals from a plurality of sources and responsively producing respective ranges from each of said sources to said vehicle and respective positions of each of said sources. The system projects the position of one of said sources to the opposite side of the Earth and responsively determining a projected position and a projected range. The vehicle's position is determined as a function of said ranges and positions.
摘要翻译：本发明包括用于估计车辆的地面位置的系统。该系统从多个源接收电磁信号，并且响应地产生从每个所述源到所述车辆的各个范围以及每个所述源的相应位置。所述系统将所述源中的一个位置投射到地球的相对侧并且响应地确定投影位置和投影范围。车辆的位置被确定为所述范围和位置的函数。

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