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)

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 system for autonomously navigating a vehicle along a predetermined path, the system comprising: (1) positioning means for determining a location of the vehicle, said positioning means including (a) a first positioning system to provide a first position estimate of the vehicle based

A computer-based system for autonomously navigating a vehicle along a predetermined path, the system comprising: (1) positioning means for determining a location of the vehicle, said positioning means including (a) a first positioning system to provide a first position estimate of the vehicle based on signals from a satellite-based positioning system, (b) a motion positioning system to provide a second position estimate of the vehicle, and (c) a processing system adapted to compute a third position estimate of the vehicle from said first position estimate and said second position estimate; (2) navigation means for causing the vehicle to track the predetermined path, said navigation means including (a) first means for retrieving from a table a given posture comprising reference path curvature, maximum velocity, desired heading, and desired vehicle position coordinates of the predetermined path, (b) second means for determining a reference steering angle from the reference path curvature, (c) third means for determining a posture error based on said retrieved posture and said third position estimate, (d) fourth means for determining a desired steering angle from said reference steering angle and said posture error, (e) fifth means for using said desired steering angle to direct the vehicle toward the predetermined path, (f) sixth means for determining a commanded speed less than said maximum velocity, and (g) seventh means for using said commanded speed to control the speed of the vehicle; and (3) detection means for causing the vehicle to detect and avoid obstacles while tracking the predetermined path.