Automatic steering of vehicle

Patent metadata

Field	Value
Publication number	US-12359398-B2
Application number	US-202217804462-A
Country	US
Kind code	B2
Filing date	May 27, 2022
Priority date	May 27, 2022
Publication date	Jul 15, 2025
Grant date	Jul 15, 2025

Abstract

A method of automatically turning an autonomous mining truck (AMT), including front wheels and rear wheels, around in an operating area, including retrieving boundary data associated with the operating area, determining a first path to follow to execute a turn maneuver within the operating area based at least on the boundary data and dimensions of the AMT, wherein the first path includes a number of legs necessary to follow the first path through the turn maneuver, completing a first leg of the turn maneuver, determining a second path to follow and number of legs necessary to execute the turn maneuver based on an inability to execute the first path, and executing the second path to complete the turn maneuver.

First claim

What is claimed is:

1. A method of automatically turning an autonomous mining truck (AMT), including front wheels and rear wheels, around in an operating area, comprising:
retrieving boundary data associated with the operating area, wherein the operating area is a mine;
determining a first path to follow to execute a turn maneuver within the operating area based at least on the boundary data and dimensions of the AMT, wherein the first path includes two or more first legs necessary to follow the first path through the turn maneuver;
completing one first leg of the turn maneuver;
determining a second path to follow and a number of second legs necessary to execute the turn maneuver based on an inability to execute the first path, wherein the inability to execute the first path is due to surface characteristics of the operating area and a loading of the AMT that affect a steering ability of one or more wheels of the front wheels or the rear wheels; and
executing the second path to complete the turn maneuver, wherein the number of second legs is greater than the number of first legs,
wherein the determining the second path includes adding one or more subsequent legs to the first path, and wherein one or more of the subsequent legs of the turn maneuver is performed at a calculated minimum turn radius of the AMT.

2. The method of claim 1 , wherein achieving the calculated minimum turn radius includes releasing a secondary brake system.

3. The method of claim 2 , wherein the secondary brake system is released based on an input from a wheel speed sensor.

4. The method of claim 2 , wherein the secondary brake system is released based on a pitch angle of the AMT.

5. The method of claim 2 , wherein the secondary brake system is released based on a secondary brake system status.

6. The method of claim 1 , wherein achieving the calculated minimum turn radius of the AMT includes moving forward to reduce friction on one or more wheels of the front wheels or the rear wheels of the AMT.

7. The method of claim 1 , wherein if the calculated minimum turn radius is not achieved, the AMT steers while stopped for up to 10 seconds.

8. A method of preparing to execute a task within an operating area using an autonomous mining truck (AMT), including front wheels and rear wheels, comprising:
retrieving boundary data associated with an operating area, wherein the operating area is a mine;
determining a path to follow to execute a turn maneuver within the operating area based at least on the boundary data and dimensions of the AMT, wherein the path includes two or more legs necessary to follow the path through the turn maneuver;
completing a leg of the turn maneuver;
determining that a requested wheel position is unable to be achieved due to (1) surface characteristics and an increase in surface friction due to loading of the AMT or (2) a slope of the operating area;
moving in one or more of a forward direction and a reverse direction while commanding steering to the requested wheel position to assist in reaching the requested wheel position; and
initiating a subsequent leg of the turn maneuver based on achieving the requested wheel position, wherein the subsequent leg of the turn maneuver is performed at a calculated minimum turn radius of the AMT.

9. The method of claim 8 , wherein achieving the calculated minimum turn radius includes releasing a secondary brake system.

10. The method of claim 9 , wherein the secondary brake system is released based on an input from a wheel speed sensor.

11. The method of claim 9 , wherein the secondary brake system is released based on a pitch angle of the AMT.

12. The method of claim 9 , wherein the secondary brake system is released based on a secondary brake system status.

13. A system for automatically turning an autonomous mining truck (AMT) around in an operating area within a mine, the system comprising:
one or more front wheels;
one or more rear wheels; and
a controller, including machine readable instructions, that when executed by the controller cause the AMT to:
retrieve boundary data associated with the operating area;
determine a first path to follow to execute a turn maneuver within the operating area based at least on the boundary data and dimensions of the AMT, wherein the first path includes two or more legs necessary to follow the first path through the turn maneuver;
complete a first leg of the turn maneuver;
determine a second path to follow and two or more legs necessary to execute the turn maneuver based on an inability to execute the first path due to the one or more front wheels or the one or more rear wheels being unable to meet a necessary turn angle to follow the legs of the first path, wherein the one or more front wheels or the one or more rear wheels being unable to meet the necessary turn angle to follow the legs of the first path is due at least in part to a greater than anticipated friction due to loading of the AMT; and
execute the second path to complete the turn maneuver,
wherein the determining the second path includes adding one or more subsequent legs to the first path, and wherein one or more of the subsequent legs of the turn maneuver is performed at a calculated minimum turn radius of the AMT.

Assignees

• Caterpillar Inc

Inventors

• Chowdhury Sagar
• Kirsch Karl
• Johnson Matthew D
• Wallstedt Philip C
• Sharma Manish
• Davis Kevin A

Classifications

• B60W10/20

  including control of steering systems · CPC title

• B60W10/18

  including control of braking systems · CPC title

• B60W60/001

  Planning or execution of driving tasks · CPC title

• E02F9/205

  Remotely operated machines, e.g. unmanned vehicles (E02F3/8866 takes precedence) · CPC title

• G05D1/0212

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title