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公开(公告)号：US11875533B2
公开(公告)日：2024-01-16
申请号：US18089118
申请日：2022-12-27
Applicant: Trimble Inc.
Inventor： Justin Creaby , Brandon Sights
CPC classification number: G06T7/74 , G06T7/80 , B60R2300/402 , B60R2300/808
Abstract: Embodiments describe a method for positioning a hinged vehicle including a primary part and a secondary part coupled to the primary part at a project site. The method includes receiving, from an image capturing device, digital image data representing one or more features of the secondary part; performing image analysis on the digital image data to identify positions of the one or more features of the secondary part; identifying an angle of at least a portion of the secondary part; calculating a current position of the secondary part based on the angle; calculating a positional difference between a correct position at the project site for the secondary part and a current position of the secondary part at the project site; and initiating a change in a position of the primary part to compensate for the positional difference and to position the secondary part on the correct position.
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公开(公告)号：US11787445B2
公开(公告)日：2023-10-17
申请号：US17137199
申请日：2020-12-29
Applicant: Trimble Inc.
Inventor： Joshua Rands , Justin Creaby , Brandon Sights , Scott Shambaugh
IPC: B60W60/00
CPC classification number: B60W60/00272 , B60W60/00274 , B60W2554/4044 , B60W2754/10
Abstract: A method of maintaining vehicle formation includes receiving a desired cross track offset distance and a desired along track offset distance between a lead vehicle and a follower vehicle; receiving a current position, a current yaw rate, and a current speed of the lead vehicle; determining a current turn radius of the lead vehicle based on the current yaw rate and the current speed of the lead vehicle; determining a projected turn radius of the follower vehicle based on the current turn radius of the lead vehicle, the desired cross track offset distance, and the desired along track offset distance; determining a commanded curvature and a next speed of the follower vehicle based on a current position of the follower vehicle and the projected turn radius of the follower vehicle; and outputting the next speed and the commanded curvature to a control system of the follower vehicle.
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公开(公告)号：US20220206512A1
公开(公告)日：2022-06-30
申请号：US17137202
申请日：2020-12-29
Applicant: Trimble Inc.
Inventor： Joshua Rands , Justin Creaby , Brandon Sights
Abstract: A method of maintaining vehicle formation includes receiving a desired along path distance; receiving a plurality of waypoints corresponding to a plurality of positions along a path of the lead vehicle; determining a dynamic path for the follower vehicle by spline fitting the plurality of positions of the plurality of waypoints; determining a commanded curvature of the follower vehicle based on a curvature of the dynamic path at a current position of the follower vehicle; determining a current along path distance between the lead vehicle and the follower vehicle; determining an along path error; determining a next speed of the follower vehicle based on the along path error and the respective waypoint speed of the respective waypoint that is adjacent to a current position of the follower vehicle; and outputting the commanded curvature and the next speed to a control system of the follower vehicle.
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公开(公告)号：US20230133319A1
公开(公告)日：2023-05-04
申请号：US18089118
申请日：2022-12-27
Applicant: Trimble Inc.
Inventor： Justin Creaby , Brandon Sights
Abstract: Embodiments describe a method for positioning a hinged vehicle including a primary part and a secondary part coupled to the primary part at a project site. The method includes receiving, from an image capturing device, digital image data representing one or more features of the secondary part; performing image analysis on the digital image data to identify positions of the one or more features of the secondary part; identifying an angle of at least a portion of the secondary part; calculating a current position of the secondary part based on the angle; calculating a positional difference between a correct position at the project site for the secondary part and a current position of the secondary part at the project site; and initiating a change in a position of the primary part to compensate for the positional difference and to position the secondary part on the correct position.
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公开(公告)号：US20220204052A1
公开(公告)日：2022-06-30
申请号：US17137206
申请日：2020-12-29
Applicant: Trimble Inc.
Inventor： Justin Creaby , Joshua Rands , Brandon Sights
Abstract: A method of maintaining vehicle formation includes receiving a desired formation distance between a lead vehicle and a follower vehicle; receiving a pre-planned path for the follower vehicle; and defining a dynamic zone around a current position of the lead vehicle. The dynamic zone has a boundary characterized by a first radius from the current position of the lead vehicle. The first radius can be substantially equal to the desired formation distance. The method further includes determining a next speed of the follower vehicle based on a current position of the follower vehicle with respect to the boundary of the dynamic zone; determining a commanded curvature of the follower vehicle based on the current position of the follower vehicle with respect to the pre-planned path; and outputting the next speed and the commanded curvature to a control system of the follower vehicle for navigation of the follower vehicle.
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Patent Agency Ranking
公开(公告)号：US20210339768A1
公开(公告)日：2021-11-04
申请号：US16863049
申请日：2020-04-30
Applicant: Trimble Inc.
Inventor： Shantnu Kakkar , Juan Carlos Santamaria , Justin Creaby , Brandon Sights
Abstract: A method of path planning for an autonomous vehicle to make a turn includes receiving a request for a turn of a vehicle from a current swath to a next swath in a work area. The work area has a headland at a periphery thereof, and the headland is characterized by a guidance line therethrough. The method further includes receiving information of the current swath, information of the next swath, and information of the guidance line, and determining a trajectory of the turn based on the information of the current swath, the information of the next swath, and the information of the guidance line. The trajectory includes one or more segments. At least a portion of a first segment of the one or more segments follows the guidance line in the headland. The method further includes, outputting the trajectory to a control system of the vehicle for executing the turn.
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公开(公告)号：US20200094874A1
公开(公告)日：2020-03-26
申请号：US16140830
申请日：2018-09-25
Applicant: Trimble Inc.
Inventor： Brandon Sights , Justin Creaby
Abstract: A method of detecting steering wheel angle instability in an auto-guided vehicle includes measuring a steering wheel angle at a plurality of time instances within a pre-determined time window to obtain an array of values of the steering wheel angle, performing a frequency analysis of the array of values of the steering wheel angle to obtain a frequency spectrum of the steering wheel angle, comparing the frequency spectrum of the steering wheel angle to a pre-defined threshold frequency spectrum to determine whether a magnitude of the frequency spectrum of the steering wheel angle at any frequency exceeds a magnitude of the threshold frequency spectrum, and upon determining that a magnitude of the frequency spectrum of the steering wheel angle at one or more frequencies exceeds a magnitude of the pre-defined threshold frequency spectrum, determining that a steering wheel angle instability is present.
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公开(公告)号：US20240069175A1
公开(公告)日：2024-02-29
申请号：US17897042
申请日：2022-08-26
Applicant: Trimble Inc.
Inventor： Thomas Sterling , Brandon Sights
CPC classification number: G01S7/497 , G01S7/40 , G01S13/865 , G01S17/89
Abstract: Disclosed are a method and apparatus for calibrating a sensor. An object is placed in a field of view of the sensor at a known location. The object is moved (e.g., rotated) in a known manner. Data from the sensor is processed to detect an object image moving in the known manner. An apparent location of the object is determined from the object image. The apparent location is compared to the known location of the object to determine an offset. The offset is stored and used to adjust future detected locations of objects.
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公开(公告)号：US11568563B2
公开(公告)日：2023-01-31
申请号：US16731856
申请日：2019-12-31
Applicant: Trimble Inc.
Inventor： Justin Creaby , Brandon Sights
Abstract: Embodiments describe a method for positioning a hinged vehicle including a primary part and a secondary part coupled to the primary part at a project site. The method includes receiving, from an image capturing device, digital image data representing one or more features of the secondary part; performing image analysis on the digital image data to identify positions of the one or more features of the secondary part; identifying an angle of at least a portion of the secondary part; calculating a current position of the secondary part based on the angle; calculating a positional difference between a correct position at the project site for the secondary part and a current position of the secondary part at the project site; and initiating a change in a position of the primary part to compensate for the positional difference and to position the secondary part on the correct position.
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公开(公告)号：US20210341933A1
公开(公告)日：2021-11-04
申请号：US16863056
申请日：2020-04-30
Applicant: Trimble Inc.
Inventor： Shantnu Kakkar , Juan Carlos Santamaria , Justin Creaby , Brandon Sights
Abstract: A method of path planning for a vehicle includes receiving a request for a turn from a current swath to a next swath, receiving information of the current swath and information of the next swath, determining a trajectory of the turn based on the information of the current swath and the information of the next swath, and outputting the trajectory to a control system of the vehicle for executing the turn. The trajectory includes a first segment and a second segment. The first segment starts from a beginning position of the turn at the current swath and ends at an intermediate position; and the second segment starts from the intermediate position and ends at an ending position of the turn at the next swath. The vehicle changes from a forward gear to a reverse gear, or vice versa, as the vehicle transitions from the first segment to the second segment.
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