Patents by Inventor Brandon Sights

Brandon Sights has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).

  • Publication number: 20240147888
    Abstract: Techniques for autonomous vehicle boundary intersection detection and avoidance are described. In an example, a geofence boundary is received at a display coupled to a control module of a vehicle. A 2D footprint is generated using a definition of the vehicle and an implement coupled to the vehicle. Using geographic coordinates for the vehicle, a current position and orientation for the footprint are determined. A 2D projection footprint is generated for the vehicle using the current position and orientation, a current steering state, and a direction of travel. A first distance from the current position and orientation at which the projection footprint intersects with the boundary is determined. Based on the first distance, the speed of the vehicle is maintained at or below a maximum speed.
    Type: Application
    Filed: November 7, 2022
    Publication date: May 9, 2024
    Applicant: Trimble Inc.
    Inventors: Shantnu Kakkar, Juan Carlos Santamaria, Eduardo Wiputra, Joshua Rands, Brandon Sights, Caroline Starbird
  • Publication number: 20240140527
    Abstract: Disclosed are a method and apparatus for determining the heading of a 4WS vehicle. The 4WS vehicle's dynamic pivot point is calculated from the steering angles. A distance between the dynamic pivot point and a Global Navigation Satellite System (GNSS) antenna is determined. A time delay is determined in the form of the distance between the GNSS antenna and the pivot point divided by the current vehicle horizontal velocity. The time delay is multiplied by a vehicle yaw rate to obtain a result which is added to a GNSS antenna heading to give a true heading. A control point for the 4WS vehicle is selected to allow that control point to follow a desired trajectory.
    Type: Application
    Filed: October 27, 2022
    Publication date: May 2, 2024
    Applicant: Trimble Inc.
    Inventors: Joshua Rands, Justin Creaby, Brandon Sights
  • Publication number: 20240069175
    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.
    Type: Application
    Filed: August 26, 2022
    Publication date: February 29, 2024
    Applicant: Trimble Inc.
    Inventors: Thomas Sterling, Brandon Sights
  • Patent number: 11875533
    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.
    Type: Grant
    Filed: December 27, 2022
    Date of Patent: January 16, 2024
    Assignee: Trimble Inc.
    Inventors: Justin Creaby, Brandon Sights
  • Publication number: 20230419681
    Abstract: Disclosed are techniques for automatically optimizing radar filter parameters. In embodiments, radar sensor data is captured from a radar sensor on a moving machine/vehicle. The radar sensor data is filtered using radar filter parameters to produce filtered radar sensor data. Radar obstacle points are produced from the filtered radar sensor data. Lidar sensor data is captured from a lidar sensor on the moving machine. Lidar obstacle points are produced from the lidar sensor data. The radar filter parameters are optimized using the lidar obstacle points.
    Type: Application
    Filed: June 28, 2022
    Publication date: December 28, 2023
    Applicant: Trimble Inc.
    Inventors: Juan Cheng, Thomas Sterling, Ulrich Vollath, Brandon Sights
  • Patent number: 11814074
    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.
    Type: Grant
    Filed: April 30, 2020
    Date of Patent: November 14, 2023
    Assignee: Trimble Inc.
    Inventors: Shantnu Kakkar, Juan Carlos Santamaria, Justin Creaby, Brandon Sights
  • Patent number: 11787445
    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.
    Type: Grant
    Filed: December 29, 2020
    Date of Patent: October 17, 2023
    Assignee: Trimble Inc.
    Inventors: Joshua Rands, Justin Creaby, Brandon Sights, Scott Shambaugh
  • Patent number: 11708094
    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.
    Type: Grant
    Filed: December 29, 2020
    Date of Patent: July 25, 2023
    Assignee: Trimble Inc.
    Inventors: Justin Creaby, Joshua Rands, Brandon Sights
  • Publication number: 20230133319
    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.
    Type: Application
    Filed: December 27, 2022
    Publication date: May 4, 2023
    Applicant: Trimble Inc.
    Inventors: Justin Creaby, Brandon Sights
  • Publication number: 20230084479
    Abstract: A method of verifying accuracy of a perception system of a vehicle includes causing the vehicle to traverse a path around a target that is fixed in an environment. The target has a known pose. The path is configured so that the target comes into a respective field of view (FOV) of each respective perception sensor of one or more perception sensors of the perception system along the path. The method further includes, for each respective perception sensor of the one or more perception sensors, while the target is within the respective FOV of the respective perception sensor, acquiring a respective image of the target using the respective perception sensor; at the perception system, determining a respective pose of the target based on the respective image; and at a computer system communicatively coupled with the perception system, determining whether the respective pose matches the known pose of the target.
    Type: Application
    Filed: September 13, 2021
    Publication date: March 16, 2023
    Applicant: Trimble Inc.
    Inventors: Brandon Sights, Tom A. Sterling, Michael F. Cash
  • Patent number: 11568563
    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.
    Type: Grant
    Filed: December 31, 2019
    Date of Patent: January 31, 2023
    Assignee: Trimble Inc.
    Inventors: Justin Creaby, Brandon Sights
  • Patent number: 11550338
    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.
    Type: Grant
    Filed: December 29, 2020
    Date of Patent: January 10, 2023
    Assignee: Trimble Inc.
    Inventors: Joshua Rands, Justin Creaby, Brandon Sights
  • Patent number: 11500390
    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.
    Type: Grant
    Filed: April 30, 2020
    Date of Patent: November 15, 2022
    Assignee: Trimble Inc.
    Inventors: Shantnu Kakkar, Juan Carlos Santamaria, Justin Creaby, Brandon Sights
  • Publication number: 20220206512
    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.
    Type: Application
    Filed: December 29, 2020
    Publication date: June 30, 2022
    Inventors: Joshua Rands, Justin Creaby, Brandon Sights
  • Publication number: 20220204051
    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.
    Type: Application
    Filed: December 29, 2020
    Publication date: June 30, 2022
    Inventors: Joshua Rands, Justin Creaby, Brandon Sights, Scott Shambaugh
  • Publication number: 20220204052
    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.
    Type: Application
    Filed: December 29, 2020
    Publication date: June 30, 2022
    Inventors: Justin Creaby, Joshua Rands, Brandon Sights
  • Publication number: 20210341933
    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.
    Type: Application
    Filed: April 30, 2020
    Publication date: November 4, 2021
    Inventors: Shantnu Kakkar, Juan Carlos Santamaria, Justin Creaby, Brandon Sights
  • Publication number: 20210339768
    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.
    Type: Application
    Filed: April 30, 2020
    Publication date: November 4, 2021
    Inventors: Shantnu Kakkar, Juan Carlos Santamaria, Justin Creaby, Brandon Sights
  • Publication number: 20210201531
    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.
    Type: Application
    Filed: December 31, 2019
    Publication date: July 1, 2021
    Inventors: Justin Creaby, Brandon Sights
  • Patent number: 10780914
    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.
    Type: Grant
    Filed: September 25, 2018
    Date of Patent: September 22, 2020
    Assignee: Trimble Inc.
    Inventors: Brandon Sights, Justin Creaby