Back to results
US 8,275,516 B2Granted
Agricultural vehicle autopilot rollover risk assessment system
AssigneeTrimble Navigation Limited
InventorMichael D Murphy
Life of this patent
Estimating the term…
Abstract
A rollover risk assessment system includes sensors and a processor for estimating rollover risk associated with maneuvering on varying terrain.
Claims29
A vehicle rollover risk assessment system comprising:
- a processor;
- a GNSS receiver that provides vehicle position and speed information to the processor;
- pitch, roll and yaw sensors that provide vehicle attitude information to the processor;
- a three-axis accelerometer that provides vehicle acceleration information to the processor;
- a steering sensor that provides vehicle wheel angle information to the processor;
- wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk;
- and,
- a steering control that steers the vehicle in response to commands from the processor;
- wherein, the processor changes vehicle path when the rollover risk is greater than a predetermined level.
6 more elements
A vehicle rollover risk assessment system comprising:
- a processor;
- a GNSS receiver that provides vehicle position and speed information to the processor;
- pitch, roll and yaw sensors that provide vehicle attitude information to the processor;
- a three-axis accelerometer that provides vehicle acceleration information to the processor;
- a steering sensor that provides vehicle wheel angle information to the processor;
- wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk;
- and,
- a throttle sensor that provides throttle information to the processor;
- and,
- a throttle control that operates the throttle in response to commands from the processor;
- wherein, the processor reduces vehicle speed by operating the throttle when the rollover risk is greater than a predetermined level.
8 more elements
A vehicle rollover risk assessment system comprising:
- a processor;
- a GNSS receiver that provides vehicle position and speed information to the processor;
- pitch, roll and yaw sensors that provide vehicle attitude information to the processor;
- a three-axis accelerometer that provides vehicle acceleration information to the processor;
- a steering sensor that provides vehicle wheel angle information to the processor;
- wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk;
- and,
- the processor calculates the vehicle's center of gravity location as a function of weight and arm of the vehicle and any attached accessories and implements.
5 more elements
A vehicle rollover risk assessment system comprising:
- a processor;
- a GNSS receiver that provides vehicle position and speed information to the processor;
- pitch, roll and yaw sensors that provide vehicle attitude information to the processor;
- a three-axis accelerometer that provides vehicle acceleration information to the processor;
- a steering sensor that provides vehicle wheel angle information to the processor;
- wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk;
- and,
- tire pressure sensors that provide tire pressure information to the processor;
- wherein the processor calculates the vehicle's center of gravity location as a function of vehicle weight, roll angle and tire pressure.
6 more elements
A vehicle rollover risk assessment system comprising:
- a processor;
- a GNSS receiver that provides vehicle position and speed information to the processor;
- pitch, roll and yaw sensors that provide vehicle attitude information to the processor;
- a three-axis accelerometer that provides vehicle acceleration information to the processor;
- a steering sensor that provides vehicle wheel angle information to the processor;
- wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk;
- and,
- the processor generates a topographic map from recorded vehicle position fixes.
5 more elements
A vehicle rollover risk assessment system comprising:
- a processor;
- a GNSS receiver that provides vehicle position and speed information to the processor;
- pitch, roll and yaw sensors that provide vehicle attitude information to the processor;
- a three-axis accelerometer that provides vehicle acceleration information to the processor;
- a steering sensor that provides vehicle wheel angle information to the processor;
- wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk;
- and,
- the processor records vehicle position and attitude fixes.
5 more elements
A vehicle rollover risk assessment system comprising:
- a processor;
- a GNSS receiver that provides vehicle position and speed information to the processor;
- pitch, roll and yaw sensors that provide vehicle attitude information to the processor;
- a three-axis accelerometer that provides vehicle acceleration information to the processor;
- a steering sensor that provides vehicle wheel angle information to the processor;
- and;
- a roll angle display that shows current roll angle and maximum safe roll angle;
- wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk.
5 more elements
A vehicle rollover risk assessment system comprising:
- a processor;
- a GNSS receiver that provides vehicle position and speed information to the processor;
- pitch, roll and yaw sensors that provide vehicle attitude information to the processor;
- a three-axis accelerometer that provides vehicle acceleration information to the processor;
- a steering sensor that provides vehicle wheel angle information to the processor;
- wherein, the processor uses the position, attitude, acceleration, and wheel angle information to estimate vehicle rollover risk;
- and,
- a communications link that provides voice and/or data communication to a base station;
- wherein, the processor sends a distress signal via the communications link whenever the vehicle roll angle exceeds a critical angle.
6 more elements
A method for assessing rollover risk comprising:
- providing a GNSS receiver that measures vehicle position and speed;
- providing pitch, roll and yaw sensors that measure vehicle attitude;
- providing a three-axis accelerometer that measures vehicle acceleration;
- providing a steering sensor that measures vehicle wheel angle;
- determining the value of a static stability index as a function of vehicle attitude;
- and,
- creating a warning whenever the static stability index is less than or equal to a critical value.
4 more elements
A method for assessing rollover risk comprising:
- providing a processor;
- providing a GNSS receiver that measures vehicle position and speed;
- providing pitch, roll and yaw sensors that measure vehicle attitude;
- providing a three-axis accelerometer that measures vehicle acceleration;
- providing a steering sensor that measures vehicle wheel angle;
- providing a steering control that steers the vehicle in response to commands from the processor;
- determining the value of a static stability index as a function of calculated vehicle attitude along a predetermined route;
- and,
- determining locations where the static stability index is less than or equal to a critical value along the route.
6 more elements
A method for assessing rollover risk comprising:
- providing a processor;
- providing a GNSS receiver that measures vehicle position and speed;
- providing pitch, roll and yaw sensors that measure vehicle attitude;
- providing a three-axis accelerometer that measures vehicle acceleration;
- providing a steering sensor that measures vehicle wheel angle;
- providing a steering control that steers the vehicle in response to commands from the processor;
- determining the value of a static stability index as a function of calculated vehicle attitude along a predetermined route;
- and,
- determining the value of a dynamic stability index as a function of calculated vehicle speed and turn radius along the route.
6 more elements
An autonomous farm tractor autopilot comprising:
- a GNSS receiver;
- pitch, roll and yaw MEMS rate gyroscopes;
- a three-axis accelerometer;
- a steering sensor;
- and a throttle sensor;
- that measure:
- position and speed;
- pitch rate, roll rate and yaw rate;
- acceleration;
- wheel angle;
- and throttle position, respectively, of the autonomous farm tractor;
- steering and throttle controls that control steering angle and speed, respectively, of the autonomous farm tractor;
- a communications link that provides wireless data communication to a base station;
- and,
- a processor in communication with the GNSS receiver, gyroscopes, accelerometer, steering sensor, throttle sensor, steering control, throttle control and communications link, the processor computing:
- center of gravity of the tractor,
- static stability index in terms of pitch and roll overturn angles and tractor attitude,
- dynamic stability index in terms of critical tangential speed and actual speed and turn radius,
- steering and throttle commands that guide the autonomous farm tractor along a predetermined route such that the static and dynamic stability indices do not fall below a threshold value along the route, and
- warning messages that alert the base station whenever:
- an unsafe tractor attitude occurs.
18 more elements
Dependencies are inferred from the claim text.