Patents by Inventor Matthew D. Berkemeier

Matthew D. Berkemeier 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: 20200356097
    Abstract: A path controller for guiding an autonomous vehicle along a desired path may include an input module that may receive input signals such as, a normal error signal that indicates an off-path deviation of the autonomous vehicle relative to a desired path, a heading signal, and a curvature signal associated with the autonomous vehicle. The path controller may also include a curvature rate module that calculates a curvature rate output signal to guide the autonomous vehicle along the desired path and a communication module that communicates the curvature rate output signal to a steering control system.
    Type: Application
    Filed: July 24, 2020
    Publication date: November 12, 2020
    Inventor: Matthew D. Berkemeier
  • Patent number: 10795369
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Grant
    Filed: January 15, 2019
    Date of Patent: October 6, 2020
    Assignee: AUTONOMOUS SOLUTIONS INC.
    Inventor: Matthew D. Berkemeier
  • Patent number: 10784841
    Abstract: A control system for a work vehicle includes a controller, a processor, and a memory that causes the processor to receive, via a sensor assembly, sensor signals and convert the sensor signals into a plurality of entries of a full measurement vector. The memory devices causes the processor to determine a first state vector using IMU Kalman filter, update a first subset of entries the full state vector, determine a second state vector using a spatial positioning Kalman filter, update a second subset of entries the full state vector based on the second state vector, determine a third state vector using a vehicle Kalman filter, update a third subset of entries of the plurality of entries of the full state vector based on the third state vector, and control movement of the work vehicle based on at least one of the first state vector, the second state vector, the third state vector, and the full state vector.
    Type: Grant
    Filed: March 8, 2018
    Date of Patent: September 22, 2020
    Assignees: CNH Industrial America LLC, Autonomous Solutions, Inc.
    Inventors: Matthew D. Berkemeier, Jeffrey Lee Ferrin, John Arthur Mitsuru Petersen
  • Patent number: 10732637
    Abstract: A path controller for guiding an autonomous vehicle along a desired path may include an input module that may receive input signals such as, a normal error signal that indicates an off-path deviation of the autonomous vehicle relative to a desired path, a heading signal, and a curvature signal associated with the autonomous vehicle. The path controller may also include a curvature rate module that calculates a curvature rate output signal to guide the autonomous vehicle along the desired path and a communication module that communicates the curvature rate output signal to a steering control system.
    Type: Grant
    Filed: October 1, 2018
    Date of Patent: August 4, 2020
    Assignee: Autonomous Solutions Inc.
    Inventor: Matthew D. Berkemeier
  • Publication number: 20200202147
    Abstract: A method of automatic labeling of images for supervised machine learning includes obtaining images of roadside objects with a camera mounted to a vehicle, recording a position and orientation of the vehicle within a defined coordinate system while obtaining the images recording position information for each roadside object with the same defined coordinates system as used while recording the position and orientation of the vehicle, and correlating a position of each of the obtained images of the roadside objects with the position information of each roadside object in view of the recorded position and orientation of the vehicle. The images are labeled to identify the roadside objects in view of the correlated position of each of the obtained images of the roadside objects.
    Type: Application
    Filed: November 15, 2019
    Publication date: June 25, 2020
    Inventor: Matthew D. Berkemeier
  • Patent number: 10494789
    Abstract: An electronic control system for a work allows for control of steering despite movement of an implement that may support a load. Control may be based on vehicle position, velocity, acceleration, center of gravity, and heading. A control point is determined despite movement of the load, and may be based upon one or more of roll, yaw, and pitch of the vehicle. The vehicle may be of the type that allows for control only of wheel or track speed and rotational direction. A desired center of gravity is maintained while controlling an error between a desired vehicle trajectory and a determined trajectory in a closed loop manner.
    Type: Grant
    Filed: January 6, 2017
    Date of Patent: December 3, 2019
    Assignees: CNH Industrial America LLC, Autonomous Solutions, Inc.
    Inventors: Matthew D. Berkemeier, Jeffrey Lee Ferrin, John Arthur Mitsuru Petersen
  • Publication number: 20190280674
    Abstract: A control system for a work vehicle includes a controller, a processor, and a memory that causes the processor to receive, via a sensor assembly, sensor signals and convert the sensor signals into a plurality of entries of a full measurement vector. The memory devices causes the processor to determine a first state vector using IMU Kalman filter, update a first subset of entries the full state vector, determine a second state vector using a spatial positioning Kalman filter, update a second subset of entries the full state vector based on the second state vector, determine a third state vector using a vehicle Kalman filter, update a third subset of entries of the plurality of entries of the full state vector based on the third state vector, and control movement of the work vehicle based on at least one of the first state vector, the second state vector, the third state vector, and the full state vector.
    Type: Application
    Filed: March 8, 2018
    Publication date: September 12, 2019
    Inventors: Matthew D. Berkemeier, Jeffrey Lee Ferrin, John Arthur Mitsuru Petersen
  • Publication number: 20190220022
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Application
    Filed: January 15, 2019
    Publication date: July 18, 2019
    Applicant: Autonomous Solutions Inc.
    Inventor: Matthew D. Berkemeier
  • Patent number: 10203694
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Grant
    Filed: August 28, 2017
    Date of Patent: February 12, 2019
    Assignee: Autonomous Solutions, Inc.
    Inventor: Matthew D. Berkemeier
  • Publication number: 20190033874
    Abstract: A path controller for guiding an autonomous vehicle along a desired path may include an input module that may receive input signals such as, a normal error signal that indicates an off-path deviation of the autonomous vehicle relative to a desired path, a heading signal, and a curvature signal associated with the autonomous vehicle. The path controller may also include a curvature rate module that calculates a curvature rate output signal to guide the autonomous vehicle along the desired path and a communication module that communicates the curvature rate output signal to a steering control system.
    Type: Application
    Filed: October 1, 2018
    Publication date: January 31, 2019
    Applicant: Autonomous Solutions, Inc.
    Inventor: Matthew D. BERKEMEIER
  • Patent number: 10139826
    Abstract: A path controller for guiding an autonomous vehicle along a desired path may include an input module that may receive input signals such as, a normal error signal that indicates an off-path deviation of the autonomous vehicle relative to a desired path, a heading signal, and a curvature signal associated with the autonomous vehicle. The path controller may also include a curvature rate module that calculates a curvature rate output signal to guide the autonomous vehicle along the desired path and a communication module that communicates the curvature rate output signal to a steering control system.
    Type: Grant
    Filed: April 25, 2016
    Date of Patent: November 27, 2018
    Assignee: AUTONOMOUS SOLUTIONS INC.
    Inventor: Matthew D. Berkemeier
  • Patent number: 9915952
    Abstract: A control system for an agricultural vehicle includes a first transceiver configured to receive a first signal from a second transceiver of a target vehicle. The first signal is indicative of a first determined position and a first determined velocity of the target vehicle. The control system also includes a controller communicatively coupled to the first transceiver. The controller is configured to automatically control the agricultural vehicle by determining a target position and a target velocity of the agricultural vehicle based at least in part on the first determined position and the first determined velocity of the target vehicle, instructing an automated steering control system and an automated speed control system to direct the agricultural vehicle toward the target position, and instructing the automated steering control system and the automated speed control system to substantially maintain the target position and the target velocity upon substantially reaching the target position.
    Type: Grant
    Filed: June 12, 2015
    Date of Patent: March 13, 2018
    Assignees: CNH Industrial America LLC, Autonomous Soltions, Inc.
    Inventors: Tyson J. Dollinger, Brian R. Ray, Adam R. Rusciolelli, Mitchel R. Torrie, Paul Lewis, Michael G. Hornberger, Daniel J. Morwood, Matthew D. Berkemeier
  • Publication number: 20170357265
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Application
    Filed: August 28, 2017
    Publication date: December 14, 2017
    Applicant: Autonomous Solutions Inc.
    Inventor: Matthew D. Berkemeier
  • Patent number: 9746854
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Grant
    Filed: April 25, 2016
    Date of Patent: August 29, 2017
    Assignee: Autonomous Solutions, Inc.
    Inventor: Matthew D. Berkemeier
  • Publication number: 20170191244
    Abstract: An electronic control system for a work allows for control of steering despite movement of an implement that may support a load. Control may be based on vehicle position, velocity, acceleration, center of gravity, and heading. A control point is determined despite movement of the load, and may be based upon one or more of roll, yaw, and pitch of the vehicle. The vehicle may be of the type that allows for control only of wheel or track speed and rotational direction. A desired center of gravity is maintained while controlling an error between a desired vehicle trajectory and a determined trajectory in a closed loop manner.
    Type: Application
    Filed: January 6, 2017
    Publication date: July 6, 2017
    Inventors: Matthew D. Berkemeier, Jeffrey Lee Ferrin, John Arthur Mitsuru Petersen
  • Publication number: 20160313737
    Abstract: A path controller for guiding an autonomous vehicle along a desired path may include an input module that may receive input signals such as, a normal error signal that indicates an off-path deviation of the autonomous vehicle relative to a desired path, a heading signal, and a curvature signal associated with the autonomous vehicle. The path controller may also include a curvature rate module that calculates a curvature rate output signal to guide the autonomous vehicle along the desired path and a communication module that communicates the curvature rate output signal to a steering control system.
    Type: Application
    Filed: April 25, 2016
    Publication date: October 27, 2016
    Applicant: Autonomous Solutions, Inc.
    Inventor: Matthew D. Berkemeier
  • Publication number: 20160313735
    Abstract: Drivable path plan systems and methods for autonomous vehicles disclosed herein may receive original path plan data, including a first path element tangentially connected to a second path element at a transition connection point. A drivable path plan may be calculated for the autonomous vehicle between the first path element and the second path element using a clothoid spline. An initial connection point may be identified, as well as an initial heading and an initial curvature along the first path element, and a final connection point, a final heading, and a final curvature along the second path element. The clothoid spline may be inserted between the initial connection point along the first path element and the final connection point along the second path element.
    Type: Application
    Filed: April 25, 2016
    Publication date: October 27, 2016
    Applicant: Autonomous Solutions Inc.
    Inventor: Matthew D. Berkemeier
  • Publication number: 20150362922
    Abstract: A control system for an agricultural vehicle includes a first transceiver configured to receive a first signal from a second transceiver of a target vehicle. The first signal is indicative of a first determined position and a first determined velocity of the target vehicle. The control system also includes a controller communicatively coupled to the first transceiver. The controller is configured to automatically control the agricultural vehicle by determining a target position and a target velocity of the agricultural vehicle based at least in part on the first determined position and the first determined velocity of the target vehicle, instructing an automated steering control system and an automated speed control system to direct the agricultural vehicle toward the target position, and instructing the automated steering control system and the automated speed control system to substantially maintain the target position and the target velocity upon substantially reaching the target position.
    Type: Application
    Filed: June 12, 2015
    Publication date: December 17, 2015
    Inventors: Tyson J. Dollinger, Brian R. Ray, Adam R. Rusciolelli, Mitchel R. Torrie, Paul Lewis, Michael G. Hornberger, Daniel J. Morwood, Matthew D. Berkemeier
  • Publication number: 20150045992
    Abstract: A robotic control system for a vehicle having a chassis and a drive system carrying the chassis. The robotic control system including a controller configured to control the drive system. The controller being further configured to at least one of auto-load the vehicle onto a trailer, preclude tipping of the vehicle, stabilize yaw of the vehicle, simulate Ackerman steering, balance the vehicle on two wheels, retrieve an other vehicle, transfer a payload from the vehicle to the other vehicle, coupling of at least one other vehicle to the vehicle, retrieval or movement of a container using either relative sensing or absolute position referencing, profile cutting of plants, and 3D print cement.
    Type: Application
    Filed: August 8, 2014
    Publication date: February 12, 2015
    Applicants: Autonomous Solutions, Inc., CNH Industrial America LLC
    Inventors: Robert D. Ashby, Brad A. Baillio, Matthew D. Berkemeier, John Droter, Jeffrey L. Ferrin, Mark D. Hayes, Joshua Henrie, Michael G. Hornberger, Daniel J. Morwood, John A. M. Petersen, Thomas M. Petroff, Eric A. Poulson, Colton J. Schenk, Devin M. Stewart, J. Brian Stewart, Melvin W. Torrie, Mitchel R. Torrie, Bret T. Turpin, Geoffrey L. Viola