Paccar Inc.

Ted Scherzinger

Yen-Lin Han

Caroline Hofgaard

Pauline Shammami

Oleksiy Khomenko

Christian Heussy

Kirstin Schauble

Austin Chong

Stan Delizo

Lew E Plummer

Martin Jay Caspe-Detzer

Ian David O'Connor

Richard P Bertalan

Stan DeLizo

Wayne Michael Winch

Jeffrey E Bargewell

Jon M Quigley

William Michael Creel

Michel Mallett

Robert Miracle

Christopher Paul Harry

Balbir Singh

A method of autonomously maneuvering a vehicle using environment sensors comprises calculating first coordinate data based on information received from environment sensors mounted on a first portion of the vehicle; determining, based on the first coordinate data, a first target at a first location; determining a path to maneuver the vehicle to the first location; determining and transmitting commands to autonomously control the vehicle to maneuver to the first location; calculating second coordinate data based on information received from environment sensors mounted on a second portion of the vehicle; determining based on the second coordinate data, a second target at a second location, determining a path to maneuver the vehicle from the first location to the second location; and determining and transmitting commands to autonomously control the vehicle to maneuver from the first location to the second location. Suitably configured vehicles (e.g., tractor units) are also described.

Selection of environment sensors for autonomous vehicle maneuvering

In some embodiments, techniques are provided for autonomously backing a vehicle (such as a Class 8 truck) to a trailer. In some embodiments, environment sensors such as image sensors and range sensors mounted to the vehicle detect a trailer and determine distances between the trailer and the vehicle as well as relative angles of the trailer and the vehicle. In some embodiments, the vehicle determines a path to the trailer based on this information, and autonomously controls braking, torque, and/or steering of the vehicle to autonomously back the vehicle along the determined path.

System and methods for autonomously backing a vehicle to a trailer

A method of autonomously backing a vehicle (e.g., a tractor unit) to a trailer (e.g., a semi-trailer) comprising a trailer-mounted coupling device (e.g., a kingpin). The method includes determining, by an autonomous backing module of the vehicle, a target corresponding to the trailer-mounted coupling device; determining, by the autonomous backing module, a path to maneuver the vehicle to the target and align a vehicle-mounted coupling device (e.g., a fifth wheel) with the trailer-mounted coupling device, determining, by the autonomous backing module, commands to components of the vehicle to autonomously control the vehicle to maneuver along the determined path to the target, and transmitting, by the autonomous backing module, the commands to the components of the vehicle (e.g., a braking control module, a steering control module, and/or a torque request module). Suitably configured vehicles are also described.

Autonomous detection of and backing to trailer kingpin

In some embodiments, a range sensor is configured to detect a distance between a portion of a vehicle and an object above the portion of the vehicle. In some embodiments, the detected distance may be presented to an operator to allow the operator to control a height of an adjustable suspension in order to manually control the distance. In some embodiments, the detected distance may be used to automatically control the distance. In some embodiments, the distance may be controlled in order to allow the vehicle to couple to the object, such as a fifth wheel of the vehicle coupling to a kingpin of a trailer.

Systems and methods for determining a height of an object above a vehicle

In some embodiments, techniques for updating a model that represents turning dynamics of a vehicle are provided. In some embodiments, an initial location and orientation of the vehicle with respect to an object outside the vehicle are determined using information from environment sensors including but not limited to image sensors and/or range sensors. In some embodiments, vehicle state information including but not limited to steering angle and wheel speed is received before determining a new location and orientation of the vehicle with respect to the object. In some embodiments, the model is updated using the initial location and orientation, the new location and orientation, and the vehicle state information.

Systems and methods for automatically updating a model of vehicle turning dynamics

A method of charging a compressed air storage tank for a vehicle increases the pressure in the storage tank from a first pressure to a second pressure. The method includes determining the first pressure according to a first detected vehicle engine load, and starting the charge cycle when the pressure detected in the storage tank is at least as low as the first pressure. The method further includes determining the second pressure according to a second detected vehicle engine load, and stopping the charge cycle when the pressure detected in the storage tank is at least as high as the second pressure.

Electronic control for heavy duty truck compressed air charging system

Aspects of the present invention are directed at securely calculating and storing odometer data associated with a vehicle. In accordance with one embodiment, a method is provided that checks the integrity of odometer data being received from a vehicle's engine. More specifically, the method includes receiving a first and second engine odometer values for an engine. Then, these odometer values are compared to determine whether data indicative of tampering was received. In this regard, if data indicative of tampering was received, aspects of the present invention adjust the official vehicle odometer value to account for the tampering.

Securely calculating and storing vehicle odometer data

Method and apparatus for interfacing steering wheel inputs on a steering wheel assembly with electronically-controlled devices in a vehicle. A steering wheel interface module in the steering wheel assembly is connected between the steering wheel inputs and a data communication bus in the steering wheel assembly. The steering wheel inputs provide control information to the steering wheel interface module, which in turn formulates data messages based on the control information and transmits the data messages on the data communication bus in the steering wheel assembly. Preferably, the steering wheel interface module includes a processing unit and a memory in communication with the processing unit. The data messages are formulated by the processing unit in accordance with programmed instructions stored in the memory. The programmed instructions and/or data messages stored in the memory may be modified or supplemented at a later time. The steering wheel interface module may also have a communication connection with one or more outputs on the steering wheel assembly for displaying status information. The data communication bus in the steering wheel assembly is electrically connected through a rotational connection assembly to a data communication bus in the vehicle that conveys the data messages sent by the steering wheel interface module to the electronically-controlled devices in the vehicle.

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Sammamish, WA, United States of America

Ted Scherzinger