Back to results
US 10,766,530 B2Granted
Vehicle automatic power and driving control
AssigneeRobo Industries, Inc.
InventorsLiang Wang, Linli Zhang
Life of this patent
Estimating the term…
Abstract
A system configured to be mounted to a vehicle including a skid-based steering system. The system including a control unit for determining course correction to the vehicle during operation based on a navigation path received from a remote device and data associated with the movement of the vehicle collected by the system.
Claims20
A method comprising:
- receiving, at a vehicle, a navigation path from a remote device;
- identify, at a first period of time, a first power source output and power-transfer system setting based at least in part on the navigation path;
- determining, at the first period of time, a first current position using position data collected by at least one position unit;
- determining, at the first period of time, a first current heading using movement data collected by at least one angle acquisition unit;
- determining, at the first period of time, a first current position error and a first heading error based at least in part on the first current position, the first current heading, and the navigation path;
- determining, at the first period of time, that the first current position error is less than a position;
- determining, at the first period of time, that the first heading error is less than a heading error threshold;
- determining, at the first period of time, a first left speed associated with a left propulsion device;
- determining, at the first period of time, a first right speed associated with a right propulsion device;
- determining, at the first period of time, a first left slip rate associated with the left propulsion device based at least in part on the first left speed;
- determining, at the first period of time, a first right slip rate associated with the right propulsion device based at least in part on the first right speed;
- determining, at the first period of time, that the first left slip rate is less than a slip rate threshold and the first right slip rate is less than the slip rate threshold;
- and
- causing the vehicle to maintain the first current heading.
11 more elements
A vehicle comprising:
- an angle acquisition unit to collect first data associated with rotational angles of the vehicle;
- a positioning unit to collect second data associated with a position of the vehicle;
- a left propulsion monitoring unit to collect third data associated with the operations of a left propulsion device of the vehicle;
- a right propulsion monitoring unit to collect fourth data associated with operations of a right propulsion device of the vehicle;
- and
- a control unit configured to:
- determine a position error based at least in part on the first data associated with the position of the vehicle and a desired position;
- determine a heading error based at least in part on the second data associated with the rotational angles of the vehicle and a desired heading;
- determine a first slip rate based at least in part on the third data;
- determine a second slip rate based at least in part on the fourth data;
- and
- determine a course heading based at least in part on the position error, the heading error, the first slip rate, and the second slip rate.
9 more elements
A method comprising:
- receiving data associated with a global position of a vehicle from a positioning unit associated with the vehicle;
- receiving data associated with rotational angles of the vehicle from an angle acquisition unit associated with the vehicle;
- determining a first slip rate based at least in part on the data associated with the global position of the vehicle and a first output velocity of a left drive unit;
- determining a second slip rate based at least in part on the data associated with the global position of the vehicle and a second output velocity of a right drive unit;
- determining a position error based at least in part on the data associated with the global position of the vehicle and a desired position;
- determining a heading error based at least in part on the data associated with the rotational angles of the vehicle and a desired heading;
- and
- determine a course heading adjustment based at least in part on the first output velocity, the second output velocity, the position error, and the heading error.
5 more elements
Dependencies are inferred from the claim text.