Autonomous dock

An autonomous dock system, comprising:

• a control system integrated into a movable vehicle, the control system comprising a controller area network, a location sensor, or a transceiver, a steering mechanism comprising a steering actuator, a processor-controllable speed-control mechanism, a processor, a tangible memory device, and processor executable instructions stored in the tangible memory device, which, when executed by the processor, are configured to implement an autonomous dock process comprising:
• calculating a connection distance between the location sensor or the transceiver on the movable vehicle and at least one transponder on a target;
• selecting a connection speed setting comprising:
• processing an impact limit of the target;
• and selecting a torque output of the processor-controllable speed-control mechanism so that the movable vehicle does not exceed the impact limit of the target when the movable vehicle impacts the target;
• calculating a trajectory between the movable vehicle and the target;
• formulating a control scheme for the steering mechanism;
• and
• commanding the steering mechanism and the processor-controllable speed-control mechanism of the movable vehicle to follow the calculated trajectory and to contact the movable vehicle with the target, wherein a vehicle speed is ramped by changing the torque output from a first output that exceeds the impact limit of the target to a second output that is equal to the torque output selected during the selecting the connection speed setting.

An autonomous dock system for a vehicle, comprising:

• a control system integrated into the vehicle, the control system comprising:
• a controller area network;
• a processor-controllable speed-control mechanism comprising one or both of an engine and a motor;
• a vehicle speed sensor or a transceiver;
• a clutch for transferring a torque from one or both of the engine and the motor to the processor-controllable speed-control mechanism, the clutch comprising a transceiver or a sensor configured with a clutch position controller and a clutch torque detection system;
• and
• a master controller comprising a processor, a tangible memory device, and processor executable instructions stored in the tangible memory device, the processor executable instructions configured, when executed by the processor, to implement the steps of:
• receiving a request to implement an autonomous dock routine;
• calculating a vehicle speed and a clutch position;
• commanding the clutch position controller to maintain the calculated clutch position;
• iteratively detecting an actual torque amount transferred across the clutch;
• commanding the processor-controllable speed-control mechanism to maintain the calculated vehicle speed;
• iteratively detecting an actual vehicle speed;
• iteratively comparing the calculated vehicle speed to the detected actual vehicle speed;
• when comparing the calculated vehicle speed to the detected actual vehicle speed indicates that the detected actual vehicle speed is below a speed threshold, and when the actual torque amount transferred across the clutch exceeds a torque threshold, commanding an adjustment to the processor-controllable speed-control mechanism to increase the actual vehicle speed;
• applying a timing factor to the commanding of the adjustment to the processor-controllable speed-control mechanism to increase the actual vehicle speed;
• and
• when the timing factor is exceeded, implementing one of a neutral condition and a parked condition.