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公开(公告)号：US20220204052A1
公开(公告)日：2022-06-30
申请号：US17137206
申请日：2020-12-29
Applicant: Trimble Inc.
Inventor： Justin Creaby , Joshua Rands , Brandon Sights
Abstract: A method of maintaining vehicle formation includes receiving a desired formation distance between a lead vehicle and a follower vehicle; receiving a pre-planned path for the follower vehicle; and defining a dynamic zone around a current position of the lead vehicle. The dynamic zone has a boundary characterized by a first radius from the current position of the lead vehicle. The first radius can be substantially equal to the desired formation distance. The method further includes determining a next speed of the follower vehicle based on a current position of the follower vehicle with respect to the boundary of the dynamic zone; determining a commanded curvature of the follower vehicle based on the current position of the follower vehicle with respect to the pre-planned path; and outputting the next speed and the commanded curvature to a control system of the follower vehicle for navigation of the follower vehicle.
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公开(公告)号：US12296905B2
公开(公告)日：2025-05-13
申请号：US17975414
申请日：2022-10-27
Applicant: Trimble Inc.
Inventor： Joshua Rands , Justin Creaby , Brandon Sights
Abstract: Disclosed are a method and apparatus for determining the heading of a 4WS vehicle. The 4WS vehicle's dynamic pivot point is calculated from the steering angles. A distance between the dynamic pivot point and a Global Navigation Satellite System (GNSS) antenna is determined. A time delay is determined in the form of the distance between the GNSS antenna and the pivot point divided by the current vehicle horizontal velocity. The time delay is multiplied by a vehicle yaw rate to obtain a result which is added to a GNSS antenna heading to give a true heading. A control point for the 4WS vehicle is selected to allow that control point to follow a desired trajectory.
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公开(公告)号：US20240147888A1
公开(公告)日：2024-05-09
申请号：US17981725
申请日：2022-11-07
Applicant: Trimble Inc.
Inventor： Shantnu Kakkar , Juan Carlos Santamaria , Eduardo Wiputra , Joshua Rands , Brandon Sights , Caroline Starbird
CPC classification number: A01B69/008 , A01B69/004 , G05D1/0214 , G05D1/0223 , G05D2201/0201
Abstract: Techniques for autonomous vehicle boundary intersection detection and avoidance are described. In an example, a geofence boundary is received at a display coupled to a control module of a vehicle. A 2D footprint is generated using a definition of the vehicle and an implement coupled to the vehicle. Using geographic coordinates for the vehicle, a current position and orientation for the footprint are determined. A 2D projection footprint is generated for the vehicle using the current position and orientation, a current steering state, and a direction of travel. A first distance from the current position and orientation at which the projection footprint intersects with the boundary is determined. Based on the first distance, the speed of the vehicle is maintained at or below a maximum speed.
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公开(公告)号：US20220204051A1
公开(公告)日：2022-06-30
申请号：US17137199
申请日：2020-12-29
Applicant: Trimble Inc.
Inventor： Joshua Rands , Justin Creaby , Brandon Sights , Scott Shambaugh
IPC: B60W60/00
Abstract: A method of maintaining vehicle formation includes receiving a desired cross track offset distance and a desired along track offset distance between a lead vehicle and a follower vehicle; receiving a current position, a current yaw rate, and a current speed of the lead vehicle; determining a current turn radius of the lead vehicle based on the current yaw rate and the current speed of the lead vehicle; determining a projected turn radius of the follower vehicle based on the current turn radius of the lead vehicle, the desired cross track offset distance, and the desired along track offset distance; determining a commanded curvature and a next speed of the follower vehicle based on a current position of the follower vehicle and the projected turn radius of the follower vehicle; and outputting the next speed and the commanded curvature to a control system of the follower vehicle.
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公开(公告)号：US12197222B2
公开(公告)日：2025-01-14
申请号：US17878220
申请日：2022-08-01
Applicant: Trimble Inc.
Inventor： Joshua Rands , Riley Kenyon , Justin Creaby
Abstract: Disclosed are techniques for avoiding collisions with obstacles by a vehicle, in particular an off-road vehicle. Objects are detected with sensors in a calculated projected path zone of the vehicle footprint based on a vehicle trajectory. Possible path zones on either side of the projected path zone where the vehicle could potentially go with a change in trajectory are determined. The vehicle is slowed down or stopped for objects in the projected path and is slowed less for objects within the possible path zones.
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Patent Agency Ranking
公开(公告)号：US20240036579A1
公开(公告)日：2024-02-01
申请号：US17878220
申请日：2022-08-01
Applicant: Trimble Inc.
Inventor： Joshua Rands , Riley Kenyon , Justin Creaby
CPC classification number: G05D1/0214 , A01B69/008 , A01B69/001 , G05D2201/0201
Abstract: Disclosed are techniques for avoiding collisions with obstacles by a vehicle, in particular an off-road vehicle. Objects are detected with sensors in a calculated projected path zone of the vehicle footprint based on a vehicle trajectory. Possible path zones on either side of the projected path zone where the vehicle could potentially go with a change in trajectory are determined. The vehicle is slowed down or stopped for objects in the projected path and is slowed less for objects within the possible path zones.
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公开(公告)号：US20220203978A1
公开(公告)日：2022-06-30
申请号：US17137108
申请日：2020-12-29
Applicant: Trimble Inc.
Inventor： Justin Creaby , Joshua Rands
Abstract: Described herein are systems, methods, and other techniques for damping oscillations of an implement of a vehicle while the vehicle is moving. Sensor data is captured using one or more sensors that are attached to the vehicle. The sensor data is analyzed to extract one or both of symmetric oscillation information or asymmetric oscillation information. One or both of a speed damping signal or a steering damping signal are generated based on analyzing the sensor data. The speed damping signal is generated in response to extracting the symmetric oscillation information and the steering damping signal is generated in response to extracting the asymmetric oscillation information. A movement of the vehicle is modified using one or both of the speed damping signal or the steering damping signal.
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公开(公告)号：US20240069552A1
公开(公告)日：2024-02-29
申请号：US17899152
申请日：2022-08-30
Applicant: Trimble Inc.
Inventor： Justin Creaby , Joshua Rands , Riley Kenyon
IPC: G05D1/02
CPC classification number: G05D1/0214 , G05D1/0238 , G05D1/0257 , G05D1/0276 , A01D90/00 , G05D2201/0201
Abstract: Disclosed are a method and apparatus for avoiding collisions with obstacles by a first vehicle using sensors on an accompanying second vehicle. The second vehicle navigates proximate the first vehicle while aiming an obstacle detection sensor at a path of the first vehicle to detect objects in the path of the first vehicle. The locations of the objects are determined and transmitted to the first vehicle.
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公开(公告)号：US11787445B2
公开(公告)日：2023-10-17
申请号：US17137199
申请日：2020-12-29
Applicant: Trimble Inc.
Inventor： Joshua Rands , Justin Creaby , Brandon Sights , Scott Shambaugh
IPC: B60W60/00
CPC classification number: B60W60/00272 , B60W60/00274 , B60W2554/4044 , B60W2754/10
Abstract: A method of maintaining vehicle formation includes receiving a desired cross track offset distance and a desired along track offset distance between a lead vehicle and a follower vehicle; receiving a current position, a current yaw rate, and a current speed of the lead vehicle; determining a current turn radius of the lead vehicle based on the current yaw rate and the current speed of the lead vehicle; determining a projected turn radius of the follower vehicle based on the current turn radius of the lead vehicle, the desired cross track offset distance, and the desired along track offset distance; determining a commanded curvature and a next speed of the follower vehicle based on a current position of the follower vehicle and the projected turn radius of the follower vehicle; and outputting the next speed and the commanded curvature to a control system of the follower vehicle.
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公开(公告)号：US20220206512A1
公开(公告)日：2022-06-30
申请号：US17137202
申请日：2020-12-29
Applicant: Trimble Inc.
Inventor： Joshua Rands , Justin Creaby , Brandon Sights
Abstract: A method of maintaining vehicle formation includes receiving a desired along path distance; receiving a plurality of waypoints corresponding to a plurality of positions along a path of the lead vehicle; determining a dynamic path for the follower vehicle by spline fitting the plurality of positions of the plurality of waypoints; determining a commanded curvature of the follower vehicle based on a curvature of the dynamic path at a current position of the follower vehicle; determining a current along path distance between the lead vehicle and the follower vehicle; determining an along path error; determining a next speed of the follower vehicle based on the along path error and the respective waypoint speed of the respective waypoint that is adjacent to a current position of the follower vehicle; and outputting the commanded curvature and the next speed to a control system of the follower vehicle.
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