Driver aid and autonomous tractor-trailer parking and loading dock alignment system
A system can autonomously or semi-autonomously guide a driver to a dock or parking location. The system can include a sensor or sensors that collect data to create a map of the dock or parking location, a user interface that allows the driver to select a dock or a feature in the map and to determine the final pose of the tractor and trailer, and a planner that creates a kinematically-correct and obstacle-free trajectory from the current location to the dock or parking location. The system can provide user aids, such as a ground guide avatar or avatars, that provide the distance to the dock, speed and turning direction, or other guidance.
1. A system designed to autonomously or semi-autonomously guide a driver to a desired dock or parking location, comprising:
a sensor or sensors that collect data to create a map of the desired dock or parking location;
a user interface that allows the driver to select a dock or a feature in the map and to determine a final pose of a tractor and trailer;
a planner that creates a kinematically-correct and obstacle-free trajectory from a current location to the desired dock or parking location; and
a set of user aids, including a ground guide avatar or avatars, that provide the distance to the dock, speed and turning directions, or other guidance.
2. The system of claim 1 , wherein the avatars are enhanced or the set of user aids includes wheel position indicators, lights, or auditory feedback.
3. The system of claim 1 , further comprising a drive-by-wire system and a vehicle controller that provides steering, gears, brake, and acceleration commands to the drive-by-wire system.
4. The system of claim 1 , wherein the system is configured to create the map by combining sensed information and (a) site information provided by a yard in which the tractor is located, (b) site information communicated to the tractor from an external source, or (c) site information stored in the tractor.
5. The system of claim 1 , wherein the planner is configured to re-plan the trajectory as the created trajectory is being executed to account for moving obstacles.
6. The system of claim 1 , where the sensor or sensors comprise a light detection and ranging (LADAR) device, a stereo camera, an optical flow sensor, a radio detection and ranging (RADAR) device, or another type of ranging sensor.
7. The system of claim 6 , wherein the sensor or sensors are mounted on the tractor, on the trailer, in a yard, or a combination of these locations.
8. The system of claim 1 , wherein the sensor or sensors are mounted on one or more rearview mirrors of the tractor.
9. The system of claim 1 , wherein the system is configured to control steering while the driver manually controls acceleration and braking.
10. The system of claim 1 , wherein the planner is configured to receive a set of preferred maneuvers for each dock.
11. The system of claim 1 , wherein the planner is configured to store a maneuver performed by the driver at a previous time.
12. The system of claim 1 , wherein the system is configured to alert the driver if a moving obstacle is approaching in the trajectory created by the planner.
13. The system of claim 1 , wherein:
the system is configured to receive information regarding location and future trajectories from one or more vehicles, and
the planner is configured to use the received information to eliminate trajectory options that will collide with the one or more vehicles.
14. The system of claim 1 , wherein the system is configured to receive selection, by a driver, a yard, or a warehouse, of the desired dock or parking location.
15. The system of claim 1 , wherein the tractor or the trailer is guided through a series of poses, so as to be able to queue or wait until the desired dock or parking location becomes free.
16. The system of claim 1 , wherein the system is configured to perform a special docking maneuver by allowing the trailer to slowly move backwards until collision with rubber bumpers.
17. The system of claim 16 , wherein the system is further configured to automatically stop movement of the trailer responsive to detection of the collision.