Automatic steering of vehicle

Patent metadata

Field	Value
Publication number	US-2023383498-A1
Application number	US-202217804462-A
Country	US
Kind code	A1
Filing date	May 27, 2022
Priority date	May 27, 2022
Publication date	Nov 30, 2023
Grant date	—

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; 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.

2 . The method of claim 1 , wherein the determining the second path includes adding one or more subsequent legs to the first path.

3 . The method of claim 2 , wherein one or more of subsequent legs of the turn maneuver is performed at a desired turn radius of the AMT.

4 . The method of claim 3 , wherein the desired turn radius is a minimum turn radius of the AMT.

5 . The method of claim 3 , wherein achieving the desired turn radius includes releasing a secondary brake system.

6 . The method of claim 5 , wherein the secondary brake system is released based on an input from a wheel speed sensor.

7 . The method of claim 5 , wherein the secondary brake system is released based on a pitch angle of the AMT.

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

9 . The method of claim 3 , wherein achieving the desired turn radius of the AMT includes moving forward to reduce friction on one or more of the front wheels and the rear wheels of the AMT.

10 . The method of claim 3 , wherein if the desired turn radius is not achieved, the AMT steers while stopped for up to 10 seconds.

11 . 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; 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 a number of 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; moving in one or more of a forward direction and a reverse direction to assist in reaching the requested wheel position; initiating a subsequent leg of the turn maneuver based on achieving the requested wheel position.

12 . The method of claim 11 , wherein one or more of subsequent legs of the turn maneuver is performed at a desired turn radius of the AMT.

13 . The method of claim 12 , wherein the desired turn radius is a maximum turn radius of the AMT.

14 . The method of claim 12 , wherein achieving the desired turn radius includes releasing a secondary brake system.

15 . The method of claim 14 , wherein the secondary brake system is released based on an input from a wheel speed sensor.

16 . The method of claim 14 , wherein the secondary brake system is released based on a pitch angle of the AMT.

17 . The method of claim 14 , wherein the secondary brake system is released based on a secondary brake system status.

18 . A system for automatically turning an autonomous mining truck (AMT) around in an operating area, the system comprising:
one or more front wheels; one or more rear wheels; 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 a number of 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 number of legs necessary to execute the turn maneuver based on an inability to execute the first path; and
execute the second path to complete the turn maneuver.

19 . The system of claim 18 , wherein determining the second path includes adding one or more subsequent legs to the first path.

20 . The system of claim 18 , wherein one or more of subsequent legs of the turn maneuver is performed at a desired 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

• E02F9/2045 Primary

  Guiding machines along a predetermined path (for graders E02F3/841; machines for construction of roads E01C19/004) · CPC title

• E02F9/205

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