Agjunction LLC

Steven J Dumble

Tri M Dang

Tommy Ertbolle Madsen

Andreas F Ramm

Eran D B Medagoda

Joshua M Gattis

Bilal Arain

Glen Sapilewski

Anant Sakharkar

Jean-Marie Eichner

Embodiments of the present disclosure relate generally to generating and utilizing three-dimensional terrain maps for vehicular control. Other embodiments may be described and/or claimed.

Three-dimensional terrain mapping

Predicting terrain traversability for a vehicle

A calibration system calibrates inertial sensor readings on a vehicle. The calibration system estimates an attitude of the ground from a series of height and position measurements and reads an attitude from an inertial sensor subsystem attached to the vehicle. The calibration system then calculates an attitude offset between the vehicle and inertial sensor subsystem based on a difference between the estimated attitude of the ground and the attitude reading of the inertial sensor subsystem. The calibration system may estimate a slope of the ground from a 3-dimensional terrain map. The slope of the ground is converted into an estimated roll and/or pitch of the vehicle which is then compared with the roll and pitch readings from the inertial sensor subsystem to determine the attitude offset.

Automatic pitch mounting compensation in an automatic steering system

A method for estimation of relative coordinates between two parts of a linked vehicle system. The system includes a towing vehicle and a towed implement or trailer. A first sensor is configured to measure the movement rate of the towing vehicle while a second sensor is configured to measure the movement rate of the towed implement. Both sensors interact with each other to measure the absolute distance between sensors. Using the known linkage geometry, relative distance between the sensors and relative rotation rates, the relative coordinates between the towing vehicle and towed implement can be estimated.

Low cost implement positioning

A control system fuses different sensor data together to determine an orientation of a vehicle. The control system receives visual heading data for the vehicle from a camera system, global navigation satellite system (GNSS) heading data from a GNSS system, and inertial measurement unit (IMU) heading data from an IMU. The control system may assign weights to the visual, GNSS, and IMU heading data based on operating conditions of the vehicle that can vary accuracy associated with the different visual, GNSS, and IMU data. The control system then uses the weighted visual, GNSS, and IMU data to determine a more accurate vehicle heading.

Using optical sensors to resolve vehicle heading issues

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Brisbane, Australia

Steven J Dumble