[특허]Multi-tasked navigation system and method for an autonomous land based vehicle

Multi-tasked navigation system and method for an autonomous land based vehicle 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	G06F-165/00
출원번호	US-0432247 (1995-05-01)
발명자 / 주소	Gudat Adam J. (Edelstein IL) Rao Prithvi N. (Pittsburgh PA) Shaffer Gary K. (Butler PA) Shi Wenfan (Pittsburgh PA) Shin Dong H. (Pittsburgh PA) Sennott James W. (Bloominton IL) Whittaker William L. (
출원인 / 주소	Caterpillar Inc. (Peoria IL 02)
인용정보	피인용 횟수 : 60 인용 특허 : 0

초록 ▼

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).

대표청구항 ▼

A computer based multi-tasked navigation system for an autonomous land based vehicle comprising: (1) main task means for coordinating inter-task communications including means for performing high-level decision making; (2) monitor vehicle task means for reading a communications port to said vehicle including means for reporting vehicle mode changes to said main task means and means for reporting system to vehicle communication state to said main task means, and further including means for writing a vehicle status message to a global memory structure; (3) scanner task means for providing data from an obstacle detection system to said main task means; (4) get directives task means for interfacing the system to a host, including means for receiving messages, means for decoding said messages from the host, and means for communicating a received decoded message to a corresponding task means in the system; (5) message to host task means for interfacing the system to said host, including means for forming messages and means for communicating said messages from the system to said host; (6) VPS position task means for interfacing a vehicle positioning system to the system, including means for reading output from the vehicle positioning system, checksum means for checking the output for correctness, writing means for putting checked output into a position buffer in a global memory structure, and fault indicating means for sending a message to the main task means whenever a position fault occurs; (7) VPS posture task means for monitoring the vehicle\s position while the vehicle is tracking, including means for maintaining a plurality of postures in a posture buffer of the global memory structure; and (8) tracker task means for calculating steer and speed corrections for said vehicle, including means for reading position information from the position buffer of the global memory structure, means for reading posture information from the posture buffer of the global memory structure, and means for sending said steer and speed corrections to the vehicle to control the vehicle\s course.

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Multi-tasked navigation system and method for an autonomous land based vehicle 원문보기

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