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11. 发明授权

US5684696A System and method for enabling an autonomous vehicle to track a desired path 失效
标题翻译：用于使自主车辆跟踪期望路径的系统和方法
公开(公告)号：US5684696A
公开(公告)日：1997-11-04
申请号：US432563
申请日：1995-05-01
申请人： 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
发明人： 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
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 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.
摘要翻译：一种用于使自主车辆跟踪期望路径的系统和方法可以计划在车辆偏离所需路径时返回所需路径的连续路径。基于车辆的位置，期望的路径和前瞻距离来确定连续路径。前瞻距离是在所需路径上的距离，连续路径和期望路径在该距离下收敛。前视距离可随车速的变化而变化。在本发明的一个实施例中，将连续路径确定为五次多项式。

12. 发明授权

US5586030A System and method for managing access to a resource in an autonomous vehicle system 失效
标题翻译：用于管理对自主车辆系统中的资源的访问的系统和方法
公开(公告)号：US5586030A
公开(公告)日：1996-12-17
申请号：US328329
申请日：1994-10-24
申请人： Carl A. Kemner , Craig L. Koehrsen , Joel L. Peterson
发明人： Carl A. Kemner , Craig L. Koehrsen , Joel L. Peterson
IPC分类号： G01C21/00 , G05D1/02 , G08G1/0968 , G08G1/123 , G06F165/00
CPC分类号： G08G1/096827 , G05D1/0257 , G05D1/0278 , G05D1/0297 , G08G1/202 , G05D1/0272 , G05D2201/021
摘要： The invention is a system and method for managing a resource shared by a plurality of autonomous vehicles. Each vehicle includes a navigator for causing the vehicle to travel a specified route to the resource and for generating a queue position request upon approach to the resource. A queue or fleet manager establishes a queue to control access to the resource. The queue manager generates a queue position in response to receipt of the queue position request from an approaching vehicle. Under control of the queue manager, autonomous vehicles are passed through the queue and allowed to access the resource in a first-in, first-out manner.
摘要翻译：本发明是用于管理由多个自主车辆共享的资源的系统和方法。每个车辆包括导航器，用于使车辆行驶到资源的指定路线，并且在接近资源时产生队列位置请求。队列或队列管理器建立一个队列来控制对资源的访问。队列管理器响应于从接近的车辆接收到队列位置请求而产生队列位置。在队列管理器的控制下，自动车辆通过队列，并允许以先入先出的方式访问资源。

13. 发明授权

US5925081A System and method for managing access to a load resource having a loading machine 失效
标题翻译：用于管理对具有加载机器的负载资源的访问的系统和方法
公开(公告)号：US5925081A
公开(公告)日：1999-07-20
申请号：US774942
申请日：1996-12-19
申请人： Mark R. Hawkins , Carl A. Kemner , Craig L. Koehrsen , Joel L. Peterson
发明人： Mark R. Hawkins , Carl A. Kemner , Craig L. Koehrsen , Joel L. Peterson
IPC分类号： B65G63/00 , B65G67/02 , G05D1/02 , G05D1/00 , G01C22/00
CPC分类号： G05D1/0297 , G05D1/0236 , G05D1/027 , G05D1/0278 , G05D2201/021
摘要： A system and method for managing access of at least one mobile machine to a load resource having a loading machine including a queue manager adapted to deliver a queue position request signal, a resource manager adapted to control access to the load resource, and a load manager adapted to determine a load point for a mobile machine.
摘要翻译：一种用于管理至少一个移动机器对具有负载机器的访问的系统和方法，所述负载资源包括适于递送队列位置请求信号的队列管理器，适于控制对所述负载资源的访问的资源管理器，以及负载管理器适于确定移动机器的负载点。

14. 发明授权

US5640323A System and method for operating an autonomous navigation system 失效
标题翻译：用于操作自主导航系统的系统和方法
公开(公告)号：US5640323A
公开(公告)日：1997-06-17
申请号：US432562
申请日：1995-05-01
申请人： Karl W. Kleimenhagen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , Joel L. Peterson , Larry E. Schmidt , Darrell E. Stafford , Louis J. Weinbeck
发明人： Karl W. Kleimenhagen , Carl A. Kemner , Walter J. Bradbury , Craig L. Koehrsen , 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 , G06F17/00
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。

15. 发明授权

US5410325A Antenna mounting apparatus 失效
标题翻译：天线安装装置
公开(公告)号：US5410325A
公开(公告)日：1995-04-25
申请号：US103369
申请日：1993-08-09
申请人： Douglas W. Friedrich , Carl A. Kemner , N. Keith Lay , Joel L. Peterson
发明人： Douglas W. Friedrich , Carl A. Kemner , N. Keith Lay , Joel L. Peterson
IPC分类号： H01Q1/00 , H01Q1/18 , H01Q1/32
CPC分类号： H01Q1/18 , H01Q1/005 , H01Q1/3283
摘要： An apparatus for mounting an antenna assembly to an elevationally movable portion of a vehicle dump bed includes a mountable support member having first and second end portions. The first end portion is fixed to the vehicle bed. The antenna assembly has an active element connected to a first end of a mounting element and a counterweight element connected to a second end of a mounting element. An intermediate portion of the mounting element is connected to the second end portion of the mountable support member. The antenna assembly is therefore free to rotate about at least one axis parallel to the axis of rotation of the elevationally movable dump bed.
摘要翻译：一种用于将天线组件安装到车辆倾卸床的可升高的部分的装置包括具有第一和第二端部的可安装的支撑构件。第一端部固定在车床上。天线组件具有连接到安装元件的第一端的有源元件和连接到安装元件的第二端的配重元件。安装元件的中间部分连接到可安装的支撑构件的第二端部。因此，天线组件可以围绕平行于可升降转台的旋转轴线的至少一个轴线自由旋转。

16. 发明授权

US06601013B2 Method and apparatus configured to determine the weight of a machine payload 有权
公开(公告)号：US06601013B2
公开(公告)日：2003-07-29
申请号：US09742467
申请日：2000-12-20
申请人： Kevin J. Lueschow , Ronald K. Scott , Joel L. Peterson
发明人： Kevin J. Lueschow , Ronald K. Scott , Joel L. Peterson
IPC分类号： G01G1903
CPC分类号： G01G23/3728 , G01G19/08
摘要： The present invention is configured to determine the weight of a payload of a mobile machine. When the machine is in motion, a force characteristic of the machine is compared with a force characteristic threshold, or range. The payload determination is based upon the force characteristic comparison, and the pressures sensed in at least one of the struts.

17. 发明授权

US5511457A Steering control system for an autonomous machine 失效
标题翻译：自主机的转向控制系统
公开(公告)号：US5511457A
公开(公告)日：1996-04-30
申请号：US334724
申请日：1994-11-04
申请人： Mark R. Hawkins , Joel L. Peterson , Kenneth E. Poppe
发明人： Mark R. Hawkins , Joel L. Peterson , Kenneth E. Poppe
IPC分类号： B62D5/07 , B62D1/26 , B62D5/09 , F15B11/08 , F15B15/00 , F15B21/08 , F01B25/02 , F15B11/00
CPC分类号： B62D1/26 , B62D5/09
摘要： A steering control system for an autonomous machine has a manual steering control valve for directing fluid from a pump to either a head end chamber or a rod end chamber of a hydraulic steering actuator. In one embodiment, an electrically actuated steering valve device is disposed in series flow relationship between the pump and the manual steering control valve and is operative to direct fluid from the pump to the head end and rod end chambers. In another embodiment, a electrically actuated device mechanically actuates the manual steering control valve for steering the machine.
摘要翻译：用于自主机器的转向控制系统具有用于将流体从泵引导到液压转向致动器的头端室或杆端室的手动转向控制阀。在一个实施例中，电动转向阀装置在泵和手动转向控制阀之间以串联流动关系布置，并且可操作以将流体从泵引导到头端和杆端室。在另一个实施例中，电致动装置机械地致动用于转向机器的手动转向控制阀。

18. 发明授权

US5469356A System for controlling a vehicle to selectively allow operation in either an autonomous mode or a manual mode 失效
标题翻译：用于控制车辆以选择性地允许以自主模式或手动模式操作的系统
公开(公告)号：US5469356A
公开(公告)日：1995-11-21
申请号：US299447
申请日：1994-09-01
申请人： Mark R. Hawkins , Joel L. Peterson
发明人： Mark R. Hawkins , Joel L. Peterson
IPC分类号： G01P3/00 , B60R16/02 , B60W10/00 , B60W10/04 , B60W10/10 , B60W10/18 , B60W30/00 , G01C21/00 , G01C21/26 , G05D1/00 , G05D1/02 , G06F165/00
CPC分类号： G05D1/0061 , G01C21/26 , G05D1/0038 , G05D2201/021
摘要： 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.
摘要翻译：响应于来自导航器的速度和转向角请求信号来控制车辆的自主操作的系统允许车辆的手动操作。该系统包括机器控制模块，发动机控制模块和变速器控制模块。自动/手动选择信号向机器控制模块指示操作是否应处于完全自主模式或手动模式。在自主模式中，导航器产生用于车辆的速度请求信号和转向角请求信号。机器控制模块从导航器接收速度和转向角请求信号。从这些输入中，机器控制模块产生用于发动机控制模块的发动机RPM（每分钟转数）控制信号，用于变速器控制模块的变速器控制信号，制动控制信号和转向角控制信号。在手动模式下，机器控制模块将不会干扰所有车辆系统的正常的，手动的（即有人值班的）控制。

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