# US 2014/0195121 A1 · Steer maneuvers for materials handling vehicles > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2014/0195121 A1 - Document ID: US20140195121A1 - Status: Published application - Kind: A1 - Application number: 14/205,449 - Filed: 2014-03-12 - Published: 2014-07-10 - Earliest claimed: 2009-08-18 - Assignees: Crown Equipment Corporation - Inventors: Anthony T. Castaneda; William W. McCroskey; James F. Schloemer; Mark E. Schumacher; Vernon W. Siefring; Timothy A. Wellman - Web page: https://patentgrep.com/patent/US20140195121A1 ## CPC - B62D 6/002: {computing target steering angles for front or rear wheels (B62D7/159 takes precedence)} - B62D 6/001: {the torque NOT being among the input parameters} - B62D 15/0265: {Automatic obstacle avoidance by steering} - B66F 9/0755: {Position control; Position detectors} - B66F 9/07568: {Steering arrangements} - B66F 9/07581: {Remote controls} - G05D 1/024: {in combination with a laser (lasers per se H01S)} - G05D 1/0255: {using acoustic signals, e.g. ultra-sonic singals (sonar systems designed for anti-collision purposes G01S15/93)} - G08C 17/02: using a radio link - G08C 2201/20: Binding and programming of remote control devices - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - 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 - G08C: TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS (fluid pressure transmitting systems F15B; mechanical means for transferring the output of a sensing member into a different variable G01D5/00; mechanical control systems G05G) ## Abstract A materials handling vehicle implements a steer maneuver to hug an object. A controller on the vehicle receives sensor data from at least one sensing device and detects that a selected object is in an environment proximate the vehicle using the received sensor data. The controller performs a steer maneuver by causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object as the vehicle travels on a desired heading. ## Claims ### Claim 1 A method for a materials handling vehicle to implement a steer maneuver comprising: receiving sensor data from at least one sensing device by a controller on a materials handling vehicle; detecting that a selected object is in an environment proximate the vehicle; and performing a steer maneuver by the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object as the vehicle travels on a desired heading. ### Claim 2 (depends on 1) The method of claim 1, wherein performing a steer maneuver comprises the controller automatically steering the vehicle such that the selected object is at least partially maintained in a hug zone defined within the environment. ### Claim 3 (depends on 2) The method of claim 2, wherein performing a steer maneuver further comprises steering the vehicle such that at least a portion of the selected object is substantially maintained on a hug line associated with the hug zone. ### Claim 4 (depends on 3) The method of claim 3, wherein: if a laterally innermost portion of the selected object is located laterally between the hug line and the vehicle, the vehicle is automatically steered away from the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading; and if the laterally innermost portion of the selected object is located laterally on the other side of the hug line than the vehicle, the vehicle is automatically steered toward the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading. ### Claim 5 (depends on 2) The method of claim 2, wherein the hug zone extends in an axial direction that is parallel to a central axis of the vehicle and the hug zone is laterally displaced from a side of the vehicle. ### Claim 6 (depends on 1) The method of claim 1, wherein the desired heading is substantially in an axial direction that is parallel to a central axis of the vehicle. ### Claim 7 (depends on 1) The method of claim 1, wherein the environment comprises first and second hug zones, the first hug zone displaced laterally from the left side of the vehicle and the second hug zone displaced from the right side of the vehicle. ### Claim 8 (depends on 7) The method of claim 7, wherein the environment further comprises: first and second stop zones laterally inwardly from the respective first and second hug zones, wherein if an object is detected in a stop zone, the vehicle is caused to initiate a braking operation; first and second no steer zones laterally outwardly from the respective stop zones, wherein if an object is detected in at least a portion of a no steer zone the vehicle is not permitted to turn toward the no steer zone in which the object was detected; and first and second steer zones laterally between the respective no steer zones and the respective hug zones, wherein if an object is detected in at least a portion of a steer zone the vehicle is permitted to turn toward the steer zone in which the object was detected. ### Claim 9 (depends on 8) The method of claim 8, wherein the selected object is the first object that is detected in at least one of the steer zones and the no steer zones. ### Claim 10 (depends on 7) The method of claim 7, wherein the controller is programmable to only perform a steer maneuver if an object is detected in a select one of the first and second hug zones. ### Claim 11 (depends on 1) The method of claim 1, wherein detecting that a selected object is in an environment proximate the vehicle comprises detecting that the selected object is in a scanned zone of the environment, wherein the scanned zone is scanned by the at least one sensing device. ### Claim 12 (depends on 1) The method of claim 1, wherein the selected object is an object that is determined to be the closest object to the vehicle within the environment, as measured in a lateral direction that is perpendicular to a central axis of the vehicle. ### Claim 13 (depends on 1) The method of claim 1, wherein the selected object is the first object that is detected in a scanned zone defined in the environment, wherein the scanned zone is scanned by the at least one sensing device. ### Claim 14 (depends on 1) The method of claim 1, wherein the selected object comprises one of a rack and a stacked product face having a generally axially extending edge portion such that the vehicle is substantially maintained at a desired distance from the edge portion of the rack or stacked product face. ### Claim 15 (depends on 1) The method of claim 1, wherein performing a steer maneuver comprises the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object as the vehicle travels on a desired heading until a predetermined event occurs. ### Claim 16 (depends on 15) The method of claim 15, wherein the predetermined event comprises at least one of: the selected object leaving a hug zone defined within the environment; the selected object leaving the environment; and a second object entering a predefined portion of a steer zone defined within the environment. ### Claim 17 (depends on 1) The method of claim 1, wherein performing a steer maneuver is implemented by the controller upon authorization to do so by an operator. ### Claim 18 (depends on 17) The method of claim 17, wherein the operator designates whether to substantially maintain the vehicle at a desired distance from an object on the left or right side of the vehicle. ### Claim 19 (depends on 18) The method of claim 18, wherein the operator authorizes a steer maneuver by activating structure on the vehicle or on a remote control device associated with the vehicle. ### Claim 20 (depends on 19) The method of claim 19, wherein the operator activating structure comprises the operator depressing a button located either on the vehicle or on the remote control device. ### Claim 21 A method for a materials handling vehicle to implement a steer maneuver comprising: receiving sensor data from at least one sensing device by a controller on a materials handling vehicle; detecting that a selected object is in an environment proximate the vehicle; and performing a steer maneuver by the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object until a predetermined event occurs. ### Claim 22 (depends on 21) The method of claim 21, wherein the predetermined event comprises at least one of: the selected object leaving a hug zone defined within the environment; the selected object leaving the environment; and a second object entering a predefined portion of a steer zone defined within the environment. ### Claim 23 (depends on 21) The method of claim 21, wherein performing a steer maneuver comprises the controller automatically steering the vehicle such that the selected object is at least partially maintained in a hug zone defined within the environment. ### Claim 24 (depends on 23) The method of claim 23, wherein the hug zone extends in an axial direction that is parallel to a central axis of the vehicle and the hug zone is laterally displaced from a side of the vehicle. ### Claim 25 (depends on 21) The method of claim 21, wherein performing a steer maneuver further comprises steering the vehicle such that at least a portion of the selected object is substantially maintained on a hug line associated with the vehicle. ### Claim 26 (depends on 25) The method of claim 25, wherein: if a laterally innermost portion of the selected object is located laterally between the hug line and the vehicle, the vehicle is automatically steered away from the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to a desired heading; and if the laterally innermost portion of the selected object is located laterally on the other side of the hug line than the vehicle, the vehicle is automatically steered toward the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading. ### Claim 27 (depends on 26) The method of claim 26, wherein the desired heading is substantially in an axial direction that is parallel to a central axis of the vehicle. ### Claim 28 (depends on 21) The method of claim 21, wherein the environment comprises first and second hug zones, the first hug zone displaced laterally from the left side of the vehicle and the second hug zone displaced from the right side of the vehicle. ### Claim 29 (depends on 28) The method of claim 28, wherein the environment further comprises: first and second stop zones laterally inwardly from the respective first and second hug zones, wherein if an object is detected in a stop zone, the vehicle is caused to initiate a braking operation; first and second no steer zones laterally outwardly from the respective stop zones, wherein if an object is detected in at least a portion of a no steer zone the vehicle is not permitted to turn toward the no steer zone in which the object was detected; and first and second steer zones laterally between the respective no steer zones and the respective hug zones, wherein if an object is detected in at least a portion of a steer zone the vehicle is permitted to turn toward the steer zone in which the object was detected. ### Claim 30 (depends on 29) The method of claim 29, wherein the selected object is the first object that is detected in at least one of the steer zones and the no steer zones. ### Claim 31 (depends on 28) The method of claim 28, wherein the controller is programmable to only perform a steer maneuver if an object is detected in a select one of the first and second hug zones. ### Claim 32 (depends on 21) The method of claim 21, wherein detecting that a selected object is in an environment proximate the vehicle comprises detecting that the selected object is in a scanned zone of the environment, wherein the scanned zone is scanned by the at least one sensing device. ### Claim 33 (depends on 21) The method of claim 21, wherein the selected object is an object that is determined to be the closest object to the vehicle within the environment, as measured in a lateral direction that is perpendicular to a central axis of the vehicle. ### Claim 34 (depends on 21) The method of claim 21, wherein the selected object is the first object that is detected in a scanned zone defined in the environment, wherein the scanned zone is scanned by the at least one sensing device. ### Claim 35 (depends on 21) The method of claim 21, wherein the selected object comprises one of a rack and a stacked product face having a generally axially extending edge portion such that the vehicle is substantially maintained at a desired distance from the edge portion of the rack or stacked product face. ### Claim 36 (depends on 21) The method of claim 21, wherein performing a steer maneuver is implemented by the controller upon authorization to do so by an operator. ### Claim 37 (depends on 36) The method of claim 36, wherein the operator authorizes a steer maneuver by activating structure on the vehicle or on a remote control device associated with the vehicle. ### Claim 38 (depends on 37) The method of claim 37, wherein the operator activating structure comprises the operator depressing a button located either on the vehicle or on the remote control device. ### Claim 39 (depends on 37) The method of claim 37, wherein the operator designates whether to substantially maintain the vehicle at a desired distance from an object on the left or right side of the vehicle. ### Claim 40 A method for a materials handling vehicle to implement a steer maneuver comprising: receiving sensor data from at least one sensing device by a controller on a materials handling vehicle; detecting that a selected object is in an environment proximate the vehicle; in response to an operator initiated request, performing a steer maneuver by the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object, wherein the operator designates whether to substantially maintain the vehicle at a desired distance from an object on the left or right side of the vehicle. ### Claim 41 (depends on 40) The method of claim 40, wherein performing a steer maneuver comprises the controller steering the vehicle such that the selected object is at least partially maintained in a hug zone defined within the environment. ### Claim 42 (depends on 41) The method of claim 41, wherein performing a steer maneuver further comprises steering the vehicle such that at least a portion of the selected object is substantially maintained on a hug line associated with the hug zone. ### Claim 43 (depends on 42) The method of claim 42, wherein: if a laterally innermost portion of the selected object is located laterally between the hug line and the vehicle, the vehicle is automatically steered away from the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to a desired heading; and if the laterally innermost portion of the selected object is located laterally on the other side of the hug line than the vehicle, the vehicle is automatically steered toward the selected object until the laterally innermost portion of the selected object is located on the hug line, at which point the vehicle is automatically steered to the desired heading. ### Claim 44 (depends on 43) The method of claim 43, wherein the desired heading is substantially in an axial direction that is parallel to a central axis of the vehicle. ### Claim 45 (depends on 41) The method of claim 41, wherein the hug zone extends in an axial direction that is parallel to a central axis of the vehicle and the hug zone is laterally displaced from a side of the vehicle. ### Claim 46 (depends on 40) The method of claim 40, wherein the environment comprises first and second hug zones, the first hug zone displaced laterally from the left side of the vehicle and the second hug zone displaced from the right side of the vehicle. ### Claim 47 (depends on 46) The method of claim 46, wherein the environment further comprises: first and second stop zones laterally inwardly from the respective first and second hug zones, wherein if an object is detected in a stop zone, the vehicle is caused to initiate a braking operation; first and second no steer zones laterally outwardly from the respective stop zones, wherein if an object is detected in at least a portion of a no steer zone the vehicle is not permitted to turn toward the no steer zone in which the object was detected; and first and second steer zones laterally between the respective no steer zones and the respective hug zones, wherein if an object is detected in at least a portion of a steer zone the vehicle is permitted to turn toward the steer zone in which the object was detected. ### Claim 48 (depends on 47) The method of claim 47, wherein the selected object is the first object that is detected in at least one of the steer zones and the no steer zones. ### Claim 49 (depends on 40) The method of claim 40, wherein detecting that a selected object is in an environment proximate the vehicle comprises detecting that the selected object is in a scanned zone of the environment, wherein the scanned zone is scanned by the at least one sensing device. ### Claim 50 (depends on 40) The method of claim 40, wherein the selected object is an object that is determined to be the closest object to the vehicle within the environment, as measured in a lateral direction that is perpendicular to a central axis of the vehicle. ### Claim 51 (depends on 40) The method of claim 40, wherein the selected object is the first object that is detected in a scanned zone defined in the environment, wherein the scanned zone is scanned by the at least one sensing device. ### Claim 52 (depends on 40) The method of claim 40, wherein the selected object comprises one of a rack and a stacked product face having a generally axially extending edge portion such that the vehicle is substantially maintained at a desired distance from the edge portion of the rack or stacked product face. ### Claim 53 (depends on 40) The method of claim 40, wherein the operator authorizes a steer maneuver by activating structure on the vehicle or on a remote control device associated with the vehicle. ### Claim 54 (depends on 53) The method of claim 53, wherein the operator activating structure comprises the operator depressing a button located either on the vehicle or on a remote control device associated with the vehicle. ### Claim 55 (depends on 40) The method of claim 40, wherein performing a steer maneuver comprises the controller causing the vehicle to steer such that the vehicle is substantially maintained at a desired distance from the selected object until a predetermined event occurs. ### Claim 56 (depends on 55) The method of claim 55, wherein the predetermined event comprises at least one of: the selected object leaving a hug zone defined within the environment; the selected object leaving the environment; and a second object entering a predefined portion of a steer zone defined within the environment.