초록 ▼

The function of each autonomous vehicle in a surface mine is performed according to a predetermined trajectory related to its particular task and implemented by a guidance system through on-board GPS and two-way communication hardware. The current position of the vehicle is continuously monitored an

The function of each autonomous vehicle in a surface mine is performed according to a predetermined trajectory related to its particular task and implemented by a guidance system through on-board GPS and two-way communication hardware. The current position of the vehicle is continuously monitored and correlated to the position of potential hazards along its path, so that corrective action can be taken by implementing appropriate, predetermined control strategies. Each vehicle is assigned a safety envelope that accounts for the vehicle's physical presence and operating tolerances. The safety envelope is characteristic of each vehicle and is defined by a variable space surrounding the vehicle wherein it may be physically present as it travels along its intended trajectory. The shape and size of the safety envelope is dynamically varied to meet safety requirements for current trajectory conditions facing the vehicle as it performs its autonomous function along its predetermined path. The safety envelope is changed according to a predetermined set of rules specific to the vehicle. Intersections between predetermined vehicle trajectories along paths and roadways within the mine's property are identified dynamically by monitoring current traffic conditions and establishing locations where the safety envelopes of vehicles traveling along approaching trajectories could overlap.

대표청구항 ▼

1. In an autonomous vehicle system wherein traffic control apparatus guides at least one of a plurality of vehicles moving along corresponding travel trajectories, a method for imposing predetermined constraints on said at least one of the plurality of vehicles in order to prevent collisions among t

1. In an autonomous vehicle system wherein traffic control apparatus guides at least one of a plurality of vehicles moving along corresponding travel trajectories, a method for imposing predetermined constraints on said at least one of the plurality of vehicles in order to prevent collisions among the vehicles, the method comprising the following steps:(a) assigning a safety envelope to said plurality of vehicles in the system; (b) predicting a position of the safety envelope as each vehicle travels along a trajectory; and (c) imposing a selected safety constraint on said at least one of the vehicles when a potential overlap of safety envelopes of two or more vehicles is identified.