公开(公告)号：US10308259B1

公开(公告)日：2019-06-04

申请号：US16005319

申请日：2018-06-11

Applicant: Caterpillar Inc.

Inventor： Nolan A. Graves ,  Nicholas R. Vogel

IPC: B60Q1/00 ,  B60W40/101 ,  B60W40/109 ,  B60W40/107

Abstract: A system for determining movement characteristics of a mobile machine may comprise: a sensor coupled to the machine and configured to communicate a signal indicative of a velocity of the machine, wherein the sensor is coupled to a portion of the machine that is disparate from a rear axle of the machine; an inertial measurement unit coupled to the machine and configured to communicate a signal indicative of an acceleration and an angular velocity of the machine; and a controller configured to: receive (a) the velocity signal and (b) the acceleration and angular velocity signal; and using (a) the velocity signal and (b) the acceleration and angular velocity signal, determine a lateral velocity of the rear axle of the machine.

公开(公告)号：US11059480B2

公开(公告)日：2021-07-13

申请号：US16396035

申请日：2019-04-26

Applicant: Caterpillar Inc.

Inventor： Nolan A. Graves ,  David K. Turner

IPC: B60W30/095 ,  G05D1/02 ,  B60W40/076 ,  B60W10/18

Abstract: A propulsion and collision avoidance system is associated with a machine operating on the ground, and is configured to determine whether a collision will occur based upon the pose and movement of the machine and the pose of the obstacle. The slope of a straight line between the machine and the obstacle is determined based upon the pose of the machine and the pose of the obstacle, and the slope of the straight line is compared to a slope threshold. A collision alert is generated after determining that a collision will occur and when the slope of the straight line is less than the slope threshold, and continuing propulsion commands are generated to propel the machine along the work surface after determining that a collision will occur and when the slope of the straight line is greater than the slope threshold.

公开(公告)号：US11286649B2

公开(公告)日：2022-03-29

申请号：US16510333

申请日：2019-07-12

Applicant: Caterpillar Inc.

Inventor： Nolan A. Graves

IPC: E02F9/26 ,  G05D1/02

Abstract: A method for estimating a yaw (or heading) of a rotating body of a machine is disclosed. The method may include obtaining measurements related to a velocity of a global navigation satellite system (GNSS) antenna coupled to the rotating body based on a motion state associated with the machine satisfying one or more conditions, calculating a first unit vector of a lever arm from a rotation axis to the GNSS antenna, and calculating a second unit vector orthogonal to the one or more measurements related to the velocity of the GNSS antenna in a direction towards the rotation axis (e.g., based on a velocity of another GNSS antenna coupled to the rotating body and/or a yaw rate measurement obtained by an inertial measurement unit). Accordingly, the yaw of the rotating body may be estimated based on a rotation angle between the first unit vector and the second unit vector.

公开(公告)号：US20210010245A1

公开(公告)日：2021-01-14

申请号：US16510333

申请日：2019-07-12

Applicant: Caterpillar Inc.

Inventor： Nolan A. Graves

IPC: E02F9/26 ,  G05D1/02

Abstract: A method for estimating a yaw (or heading) of a rotating body of a machine is disclosed. The method may include obtaining measurements related to a velocity of a global navigation satellite system (GNSS) antenna coupled to the rotating body based on a motion state associated with the machine satisfying one or more conditions, calculating a first unit vector of a lever arm from a rotation axis to the GNSS antenna, and calculating a second unit vector orthogonal to the one or more measurements related to the velocity of the GNSS antenna in a direction towards the rotation axis (e.g., based on a velocity of another GNSS antenna coupled to the rotating body and/or a yaw rate measurement obtained by an inertial measurement unit). Accordingly, the yaw of the rotating body may be estimated based on a rotation angle between the first unit vector and the second unit vector.

公开(公告)号：US20200339117A1

公开(公告)日：2020-10-29

申请号：US16396035

申请日：2019-04-26

Applicant: Caterpillar Inc.

Inventor： Nolan A. Graves ,  David K. Turner

IPC: B60W30/095 ,  G05D1/02 ,  B60W40/076

Abstract: A propulsion and collision avoidance system is associated with a machine operating on the ground, and is configured to determine whether a collision will occur based upon the pose and movement of the machine and the pose of the obstacle. The slope of a straight line between the machine and the obstacle is determined based upon the pose of the machine and the pose of the obstacle, and the slope of the straight line is compared to a slope threshold. A collision alert is generated after determining that a collision will occur and when the slope of the straight line is less than the slope threshold, and continuing propulsion commands are generated to propel the machine along the work surface after determining that a collision will occur and when the slope of the straight line is greater than the slope threshold.