System and method for behavior based control of an autonomous vehicle

• US 10,088,845 B2
• Filed: 11/17/2016
• Issued: 10/02/2018
• Est. Priority Date: 10/22/2004
• Status: Expired due to Fees

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Pack, Robert Todd, Allard, James, Barrett, David S., Filippov, Misha, Svendsen, Selma
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US15/354,526
• Publication Number:
  US 20170102701A1
• Time in Patent Office: 684 Days
• Field of Search: None
• CPC Class Codes: B60W 60/0011 involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.

Claims

1. A vehicle capable of manned operation, the vehicle comprising:

(a) a first subsystem, comprising;

a computing medium having computer readable code embodied therein for selectively controlling the vehicle, the computer readable code comprising;

(i) code for causing the vehicle to be autonomously controlled without operator intervention by adjusting a speed of the vehicle based on a moving object; and

(ii) code for enabling autonomous operation of a first vehicle input device in combination with operator control of a second vehicle input device by adjusting a speed of the vehicle based on a moving object; and

(b) a second subsystem in electrical communication with the first subsystem, the second subsystem comprising;

a plurality of actuators for manipulating one or more devices of the vehicle; and

a controller for controlling at least one actuator in response to an instruction received from the computing medium,

wherein the controller, in response to an instruction generated by the code for enabling autonomous operation of the first vehicle input device in combination with operator control of the second vehicle input device, autonomously controls a first set of at least one actuator and contemporaneously controls a second set of at least one actuator in accordance with operator input, wherein at least one actuator of the plurality of actuators is coupled to the first vehicle input device by a mechanical linkage or a mechanical transmission, wherein the controller is configured to detect a disassociation between the first vehicle input device and an associated one of the plurality of actuator and to interrupt autonomous control in response to the disassociation, and the disassociation comprises a break in the mechanical linkage or mechanical transmission that couples the at least one actuator of the plurality of actuators to the first vehicle input device.

2. The vehicle of claim 1, wherein the computing medium comprises code for causing the vehicle to automatically travel through a pre-recorded set of fixed waypoints.

3. The vehicle of claim 1, wherein the controller controls at least one actuator so as to cause the vehicle to automatically travel through a pre-recorded set of fixed waypoints.

4. The vehicle of claim 1, wherein the computing medium comprises code for causing the vehicle to automatically follow the moving object.

5. The vehicle of claim 1, wherein the controller controls the at least one actuator so as to cause the vehicle to automatically follow the moving object.

6. The vehicle of claim 1, wherein the computing medium comprises code for causing the vehicle to automatically avoid an obstacle.

7. The vehicle of claim 1, wherein the controller controls the at least one actuator so as to cause the vehicle to automatically avoid an obstacle.

8. The vehicle of claim 1, wherein the computing medium further comprises code for overriding autonomous control of the vehicle in favor of manual operator control of the vehicle.

9. The vehicle of claim 1 further comprising at least one sensor for assessing an environment in and around the vehicle.

10. The vehicle of claim 1 further comprising a global positioning system, a LIDAR system, an inertial navigation system, and an odometer.

11. The vehicle of claim 1, wherein at least one actuator manipulates a vehicle device selected from the group consisting of a steering gear, a throttle, a brake, and a transmission.

12. The vehicle of claim 1, wherein the mechanical linkage comprises a lever and a pivot joint.

13. The vehicle of claim 1, wherein the mechanical transmission comprises a rack and pinion device.

14. The vehicle of claim 1 further comprising an emergency stop button for shutting down the vehicle.

15. A vehicle capable of manned operation, the vehicle comprising:

(a) a first subsystem, comprising;

a computing medium having computer readable code embodied therein for selectively controlling the vehicle, the computer readable code comprising;

(i) code for causing the vehicle to be autonomously controlled without operator intervention; and

(ii) code for enabling autonomous operation of a first vehicle input device in combination with operator control of a second vehicle input device; and

(b) a second subsystem in electrical communication with the first subsystem, the second subsystem comprising;

a plurality of actuators for manipulating one or more devices of the vehicle; and

a controller for controlling at least one actuator in response to an instruction received from the computing medium, and for storing a location of one or more terrain features in a terrain feature map,

wherein the controller, in response to an instruction generated by the code for enabling autonomous operation of the first vehicle input device in combination with operator control of the second vehicle input device, autonomously controls a first set of at least one actuator based on the one or more terrain features in the terrain feature map and contemporaneously controls a second set of at least one actuator in accordance with operator input, wherein at least one actuator of the plurality of actuators is coupled to the first vehicle input device by a mechanical linkage or a mechanical transmission, wherein the controller is configured to detect a disassociation between the first vehicle input device and an associated one of the plurality of actuator and to interrupt autonomous control in response to the disassociation, and the disassociation comprises a break in the mechanical linkage or mechanical transmission that couples the at least one actuator of the plurality of actuators to the first vehicle input device.