Abstract: A site database structure for storing elevation data for access by an application program being executed on a control system on a work machine. The data is stored in a Triangular Irregular Network (TIN). The elevation of a point on the work site based on the three points forming the triangle containing the point.

Abstract: A method and apparatus for operating geography-altering machinery such as a track-type tractor, road grader, paver or the like relative to a work site to alter the geography of the site toward a desired condition. A first digital three-dimensional model of the desired site geography, and a second digital three-dimensional model of the actual site geography are stored in a digital data storage facility. The machine is equipped with a position receiver to determine in three-dimensional space the location of the machine relative to the site. A dynamic database receives the machine position information, determines the difference between the first and second site models and generates representational signals of that difference for directing the operation of the machine to bring the actual site geography into conformity with the desired site geography.

Abstract: An apparatus (10) is provided for automatically actuating a brake system (28) in a work vehicle. The work vehicle has an engine (12) and a plurality of ground engaging wheels (24). At least one of the wheels (24) is driven by the engine (12) for propelling the vehicle. The brake system (28) is provided for opposing motion of at least one of the wheels. The apparatus (10) includes speed sensor (20) for sensing actual engine speed and responsively producing an actual engine speed signal. A controller (64) receives the actual engine speed signal and produces an error signal in response a difference between the actual and desired engine speed signals. The controller (64) further produce a control signal in response to the error signal. An actuator (76, 52, 58) is provided for receiving the control signal and controlling the braking force applied by the brake system (28) so as to reduce the error signal to zero.

Abstract: A system and method for controlling the navigation of surface based vehicle uses a route that is obtained by manually driving the vehicle over the route to collect data defining the absolute position of the vehicle at various positions along the route. The collected data is smoothed to provide a consistent route to be followed. The smoothed data is subsequently used to automatically guide the vehicle over the route.

Abstract: An apparatus for determining a position of a work implement of a work machine in a site coordinate system. The position of the work implement is defined as the position in the site coordinate system of two fixed points located on the work implement. The apparatus includes first and second position sensors mounted on the work implement. A pitch sensor connected to the work implement senses a pitch of the work implement and responsively produces a pitch signal. A cross slope sensor connected to the work implement senses a cross slope of the work implement and responsively produces a cross slope signal. A rotation sensor connected to the work implement senses a rotation of the work implement and responsively produces a rotation sensor.

Abstract: The present invention provides a site database structure for storing data for access by an application program being executed on a control system on a work machine. The work machine operates at a work site. The data representing a parameter of the work site. A data structure is stored in the memory. The data structure includes information resident in a database used by the application program. A plurality of data objects are associated with the data structure. Each data object represents a defined section of the work site and is represented by a set of predefined coordinates. At least one layer object is associated with each data object. Each layer object has a predefined number of cell objects. Each cell object has an associated value of the parameter.

Abstract: The invention is a system and method for managing a resource having a stop point. Each of at least one mobile machine includes a queue manager adapted to generate a queue position request as the mobile machine approaches the resource. A resource manager is adapted to establish a queue to control access to the resource. After receiving the queue position request from the approaching mobile machine, the resource manager generates a queue position and sends it to the mobile machine. The resource manager then determines the next stop point to be accessed. When the resource is available to receive another mobile machine, the resource manger directs the first mobile machine in the selected queue to proceed to access the stop point.

Abstract: An apparatus and method for determining and displaying a position of a work implement of a work machine in a site coordinate system is provided. First and second position sensors mounted on the work implement determine the position of the first and second position sensors and produce first and second position signals, respectively. A pitch sensor connected to the work implement senses a pitch of the work implement and responsively produces a pitch signal. A site database contains a digitized model of the work site defined by actual work site data. A controller is coupled to the first and second position sensors and the pitch sensor. The controller receives the first and second position and pitch signals, determines the position of the work implement in the site coordinate system as a function of the first and second position signals and the pitch signal, and updates the actual work site data as a function of the position of the work implement.

Abstract: A system and method for managing access of at least one mobile machine to a load resource having a loading machine including a queue manager adapted to deliver a queue position request signal, a resource manager adapted to control access to the load resource, and a load manager adapted to determine a load point for a mobile machine.

Abstract: The invention is a system and method for managing a resource having a dump location. A plurality of stop points are located adjacent to the dump location. Each of a plurality of mobile machines includes a queue manager adapted to generate a queue position request signal as each mobile machine approaches the resource. A resource manager is adapted to establish and control a queue to control access to the resource in response to receiving a queue position request signal. The resource manager is also adapted to enable simultaneous access of the dump location by the mobile machines.

Abstract: The invention is a system and method for managing a resource having multiple entry points. Each mobile machine includes a queue manager for generating a queue position request upon approach to the resource. A resource manager establishes queues, one for each entry point to the resource, to control access to the resource. Upon receiving a queue position request from an approaching mobile machine, the resource manager determines which queue to place the mobile machine, and then generates a queue position and sends a queue position signal to the approaching mobile machine.

Abstract: A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910).

Abstract: A method for calculating a volume between previous and current site surfaces is provided. The site surfaces are represented by a series of surface elevations. The method includes the steps of determining previous surface elevations; traversing the site with a work machine and determining current surface elevations; and calculating a volume difference between the current surface and the previous surface as a function of the previous surface elevations and the current surface elevations.

Abstract: The present invention provides a method for updating a site database. The site database models the elevation of a work site using a Triangular Irregular Network (TIN). The TIN is composed of a plurality of points. Each point has associated known X and Y coordinates and a known elevation and is associated with a set of other points in the network to form triangles. The work site is modified by a work machine. The method includes the steps of receiving a new set of points. The new set of points includes at least first and second points. The first and second points have associated X, Y, and Z coordinates. The method also includes the steps of comparing the new set of points with a previous set of points and updating the triangular irregular network with the new set of points if a minimum distance has been traversed by the work machine.

Abstract: A system and method for enabling an autonomous vehicle to track a desired path plans a continuous path to return to the desired path when the vehicle deviates from the desired path. The continuous path is determined based on the vehicle's position, the desired path, and a lookahead distance. The lookahead distance is the distance on the desired path within which the continuous path and the desired path converge. The lookahead distance may vary as a function of vehicle speed. In one embodiment of the present invention, the continuous path is determined as a quintic polynomial.

Abstract: A system for generating a path allows a vehicle to traverse a predetermined route. The system stores route data for the predetermined route. The route data identifies a series of contiguous path segments that form the predetermined route. The route data also identifies a series of nodes located at the beginning and the end of the predetermined route and between adjacent path segments. Each path segment represents a series of postures along the predetermined route. Each posture identifies a position, a heading, and a curvature for the vehicle at a particular point along the predetermined route. The system stores the path segments and nodes as compressed path data. In one embodiment, the compressed path data is a function that is continuous in posture, i.e., continuous in position, heading and curvature. The system retrieves the compressed path data and generates a series of postures from the retrieved compressed path data to allow the vehicle to traverse the predetermined route.

Abstract: A system and method for controlling an autonomously navigated vehicle uses a vehicle manager to control vehicle subsystems and to respond to commands from either a vehicle navigation system or a remote control panel. The vehicle manager controls vehicle subsystems including a speed control subsystem, a steering control subsystem, an auxiliary control subsystem, and a monitor subsystem. The speed control subsystem controls the speed of the vehicle in response to a speed command from the vehicle manager. The steering control subsystem controls the steering angle of the vehicle in response to a steering command from the vehicle manager. The auxiliary control subsystem controls auxiliary functions of the vehicle in response to an auxiliary command from the vehicle manager. The monitor subsystem monitors the status of each of the other subsystems and provides the status to the vehicle manager.

Abstract: An apparatus and method for controlling a surface-based vehicle provides three operational modes: a manual operation, a tele-operation, and an autonomous operation. In manual operation, an operator directly manipulates vehicle controls on the vehicle. In tele-operation, the operator controls the vehicle from a remote position. In autonomous operation, the vehicle controls itself based on its position and a predetermined path. The apparatus and method of the present invention provides an orderly transition between manual operation, tele-operation, and autonomous operation of the vehicle.

Abstract: A system (400) for positioning and navigating an autonomous vehicle (310) allows the vehicle (310) to travel between locations. Position information (432) is derived from global positioning system satellites (200, 202, 204, and 206) or other sources (624) when the satellites (200, 202, 204, and 206) are not in the view of the vehicle (310). Navigation of the vehicle (310) is obtained using the position information (432), route information (414), obstacle detection and avoidance data (416), and on board vehicle data (908 and 910).

Abstract: An apparatus and method for navigating a vehicle along a predetermined route use route data and path data to define the predetermined route. The route data represents one or more contiguous path segments between adjacent nodes along the predetermined route. The path data includes postures of the vehicle along each of the path segments. The postures define the desired position, heading, curvature and speed of vehicle at various locations along the path segments. The apparatus and method use the posture information to generate and track a path thereby allowing the vehicle to navigate along the predetermined route.