# US 2014/0195076 A1 · Vehicle control limits > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195076 A1 - Document ID: US20140195076A1 - Status: Published application - Kind: A1 - Application number: 14/208,852 - Filed: 2014-03-13 - Published: 2014-07-10 - Earliest claimed: 2011-08-29 - Assignees: Crown Equipment Corporation - Applicants: Crown Equipment Corporation - Inventors: Lucas B. Waltz; Bing Zheng; Thomas L. Mallak; Steve Mangette - Web page: https://patentgrep.com/patent/US20140195076A1 ## CPC - B66F 9/063: {Automatically guided} - G05D 1/0274: {using mapping information stored in a memory device (navigation using map-matching G01C21/30)} - B66F: HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES ## Abstract Included are embodiments for providing vehicle control limits. One embodiment of a system includes a navigation system and a vehicle that includes a memory component that stores a program. Embodiments of the system are configured to receive an indication for automatic control of the vehicle, receive a route for the vehicle to reach a destination for completing a work order from the navigation system, and determine a vehicle limit, wherein the vehicle limit is based on a current state of the vehicle. Some embodiments are configured to communicate the vehicle limit from a vehicle control module (VCM) to a navigation control module (NCM), determine, via the NCM, an automatic command based on the destination and the vehicle limit and send the automatic command to a motor of the vehicle. ## Claims ### Claim 1 A system comprising: a navigation system; and a vehicle that comprises a memory component that stores a program that, when executed by a processor of the vehicle, causes the vehicle to perform at least the following: receive data for the vehicle to reach a destination using an automatic control mode; determine a vehicle limit, wherein the vehicle limit is based on a current state of the vehicle; communicate the vehicle limit from a vehicle control module (VCM) to a navigation control module (NCM), wherein the NCM facilitates automatic control of the vehicle to prevent the NCM from sending a vehicle command to the VCM that violates the vehicle limit. ### Claim 2 (depends on 1) The system of claim 1, wherein the indication for automatic control is received from an external source. ### Claim 3 (depends on 2) The system of claim 2, wherein the external source comprises at least one of the following: a navigation system operator, a vehicle operator, and the navigation system. ### Claim 4 (depends on 1) The system of claim 1, wherein the navigation system determines the destination. ### Claim 5 (depends on 1) The system of claim 1, wherein the current state of the vehicle comprises at least one of the following: a current fork height, a current vehicle speed, a current wheel angle, and a current load weight. ### Claim 6 (depends on 1) The system of claim 1, wherein the vehicle limit comprises at least one of the following: a speed limit, a maximum wheel angle, an acceleration limit, and a deceleration limit. ### Claim 7 (depends on 6) The system of claim 6, wherein the current state of the vehicle upon which the vehicle limit is based comprises a current fork height. ### Claim 8 (depends on 6) The system of claim 6, wherein the current state of the vehicle upon which the vehicle limit is based comprises a current load weight. ### Claim 9 (depends on 1) The system of claim 1, wherein: the VCM implements manual control commands; and the vehicle limit is received by the NCM from the VCM. ### Claim 10 (depends on 1) The system of claim 1, wherein determining the automatic command comprises: determining a vehicle condition; and determining an efficient operation of the vehicle to traverse the route, taking into consideration the vehicle condition and without violating the vehicle limit. ### Claim 11 (depends on 10) The system of claim 10, wherein the vehicle condition comprises at least one of the following: a current load weight, a current vehicle speed, a current wheel angle, and a current fork height. ### Claim 12 (depends on 1) The system of claim 1, wherein in response to the NCM receiving the automatic command, the NCM communicates the vehicle limit to the navigation system. ### Claim 13 (depends on 1) The system of claim 1, wherein the VCM communicates at least one of the following to the NCM: a traction speed feedback, a traction speed limit, a traction acceleration force limit, a traction deceleration force limit, a wheel angle feedback, a counterclockwise maximum wheel angle, clockwise maximum wheel angle, wheel rate limit, a fork height feedback, a hoist speed limit, a hoist acceleration limit, a fork height limit, an accessory position, an accessory upper limit, an accessory lower limit, and an accessory speed limit. ### Claim 14 (depends on 1) The system of claim 1, further comprising a management computing device for processing the work order, wherein: the work order identifies a location of a product that needs to be moved; the management computing device sends data related to the location of the product to the navigation system; and the navigation system determines whether the vehicle will complete the work order. ### Claim 15 (depends on 1) The system of claim 1, wherein the destination comprises a three-dimensional destination. ### Claim 16 (depends on 1) The system of claim 1, wherein the navigation system comprises a server. ### Claim 17 A method comprising: receiving a work order, the work order related to a three-dimensional destination; determining data for a vehicle to reach the three-dimensional destination; determining a vehicle limit, wherein the vehicle limit is based on a current state of the vehicle; and sending the vehicle limit to a navigation control module (NCM) to prevent the NCM from sending a command that violates the vehicle limit. ### Claim 18 A vehicle, comprising: a memory component that stores a program that, when executed by a processor, causes the vehicle to perform at least the following: receive data regarding a destination; determine a vehicle limit of the vehicle, wherein the vehicle limit is based on a current state of the vehicle; and communicate the vehicle limit to a navigation control module (NCM) to prevent the NCM from sending a command that violates the vehicle limit. ### Claim 19 (depends on 18) The vehicle of claim 18, wherein navigating the vehicle to the destination comprises the NCM communicating with the VCM to provide a control command.