Autonomous vehicle re-tasking during performance of a programmed task based on detection of a task interruption scenario

• US 10,203,695 B2
• Filed: 05/14/2018
• Issued: 02/12/2019
• Est. Priority Date: 06/14/2016
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Glatfelter, John W., Laughlin, Brian Dale
• Primary Examiner(s): Soofi, Yazan A
• Application Number:
  US15/978,643
• Publication Number:
  US 20180259964A1
• Time in Patent Office: 274 Days
• Field of Search: 701 26
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 47/08 Arrangements of cameras
• CPC Class Codes: B64U 50/10 Propulsion rotors specially adapted for rotorcraft or VTOL B64U30/20
• 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 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G06F 18/22 Matching criteria, e.g. proximity measures
• CPC Class Codes: G06Q 10/0637 Strategic management or analysis, e.g. setting a goal or target of an organisation; Planning actions based on goals; Analysis or evaluation of effectiveness of goals
• CPC Class Codes: G06Q 50/265 Personal security, identity or safety
• CPC Class Codes: G06Q 50/40 Business processes related to the transportation industry shipping G06Q10/083
• CPC Class Codes: G06V 10/761 Proximity, similarity or dissimilarity measures
• CPC Class Codes: G06V 20/13 Satellite images
• CPC Class Codes: G06V 2201/07 Target detection
• CPC Class Codes: H04N 7/18 Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast

Abstract

An example autonomous vehicle includes a communication interface for receiving instructions to perform a first task in an environment using a first strategy, sensors for detecting conditions in the environment to carry out the first task, data storage storing a plurality of task interruption scenarios each having an associated priority setting, and a processor for executing instructions for autonomous decision-making to perform functions. The functions include during performance of the first task, identifying that the conditions in the environment are associated with one of the plurality of task interruption scenarios, determining that the identified task interruption scenario is associated with a second task that has a higher priority setting than the first task, determining an asset needed to perform the second task, and based on the autonomous vehicle having the asset, autonomously (i) stopping performance of the first task and (ii) changing to perform the second task.

Claims

1. An autonomous vehicle, comprising:

a communication interface for receiving instructions to perform a first task in an environment, wherein the first task has a priority setting;

one or more sensors for detecting one or more conditions in the environment to carry out the first task;

data storage storing a plurality of task interruption scenarios each having an associated priority setting, and storing executable instructions for autonomous decision-making; and

one or more processors for executing the instructions for autonomous decision-making stored in the data storage to perform functions comprising;

during performance of the first task, identifying that the one or more conditions in the environment detected by the one or more sensors is associated with one of the plurality of task interruption scenarios;

determining that the identified task interruption scenario is associated with a second task that has a higher priority setting than the first task;

autonomously changing to perform the second task in the environment; and

reassigning, via the communication interface, performance of the first task to another autonomous vehicle that has one or more assets needed to perform the first task.

2. The autonomous vehicle of claim 1, wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to determine one or more assets needed to perform the second task.

3. The autonomous vehicle of claim 1, wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to, based on the autonomous vehicle having the one or more assets needed to perform the second task, autonomously stop performance of the first task.

4. The autonomous vehicle of claim 1, wherein the one or more processors execute the instructions for autonomous decision-making stored in the data storage to perform functions in real-time during performance of the first task.

5. The autonomous vehicle of claim 1, wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to access the data storage to identify the priority setting associated with the identified task interruption scenario.

6. The autonomous vehicle of claim 1, wherein the data storage further stores prioritized targets, and the first task is associated with a search for a first target having the priority setting, and wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to:

access the data storage to determine that the one or more conditions in the environment detected by the one or more sensors includes one of the prioritized targets; and

determine that the one of the prioritized targets has the higher priority setting than the first task.

7. The autonomous vehicle of claim 1, wherein the data storage further stores prioritized targets, and wherein the one or more sensors include a biosensor, and wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to:

process outputs of the biosensor to identify a biological or chemical substance associated with one of the stored prioritized targets.

8. A method for autonomous re-tasking of an autonomous vehicle, comprising:

receiving instructions, at an autonomous vehicle, to perform a first task in an environment and using one or more sensors of the autonomous vehicle to carry out the first task, wherein the first task has a priority setting;

during performance of the first task, the autonomous vehicle identifying a condition in the environment being associated with a task interruption scenario, based on outputs from the one or more sensors;

determining, by the autonomous vehicle, that the task interruption scenario is associated with a second task that has a higher priority setting than the first task;

autonomously changing to perform the second task in the environment; and

reassigning performance of the first task to another autonomous vehicle that has one or more assets needed to perform the first task.

9. The method of claim 8, wherein the autonomous vehicle autonomously changing to perform the second task in the environment, and reassigning performance of the first task to another autonomous vehicle occurs in real-time during performance of the first task.

10. The method of claim 8, wherein the first task includes searching the environment for a target.

11. The method of claim 8, wherein the autonomous vehicle includes one or more processors and data storage storing a plurality of task interruption scenarios each having an associated priority setting, and wherein determining, by the autonomous vehicle, that the task interruption scenario is associated with the second task that has the higher priority setting than the first task comprises:

the one or more processors accessing the data storage to identify the priority setting associated with the task interruption scenario.

12. An autonomous vehicle, comprising:

a communication interface for receiving instructions to perform a first task in an environment, wherein the first task has a priority setting;

one or more sensors for detecting one or more conditions in the environment to carry out the first task;

data storage storing a plurality of task interruption scenarios each having an associated priority setting, and storing executable instructions for autonomous decision-making; and

one or more processors for executing the instructions for autonomous decision-making stored in the data storage to perform functions comprising;

during performance of the first task, identifying that the one or more conditions in the environment detected by the one or more sensors is associated with one of the plurality of task interruption scenarios;

determining that the identified task interruption scenario is associated with a second task that has a higher priority setting than the first task;

determining one or more assets needed to perform the second task; and

assigning, via the communication interface, performance of the second task to another autonomous vehicle that has the one or more assets needed to perform the second task based on the autonomous vehicle not having the one or more assets needed to perform the second task.

13. The autonomous vehicle of claim 12, wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to send, via the communication interface, a notification to a control center informing of the identified condition based on the autonomous vehicle not having the one or more assets needed to perform the second task.

14. The autonomous vehicle of claim 12, wherein the one or more processors execute the instructions for autonomous decision-making stored in the data storage to perform functions in real-time during performance of the first task.

15. The autonomous vehicle of claim 12, wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to access the data storage to identify the priority setting associated with the identified task interruption scenario.

16. The autonomous vehicle of claim 12, wherein the data storage further stores prioritized targets, and the first task is associated with a search for a first target having the priority setting, and wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to:

access the data storage to determine that the one or more conditions in the environment detected by the one or more sensors includes one of the prioritized targets; and

determine that the one of the prioritized targets has the higher priority setting than the first task.

17. The autonomous vehicle of claim 12, wherein the data storage further stores prioritized targets, and wherein the one or more sensors include both a visual camera and an infrared camera and wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to:

process images or video streaming imagery captured by the camera to identify one of the stored prioritized targets.

18. The autonomous vehicle of claim 12, wherein the data storage further stores prioritized targets, and wherein the one or more sensors include a biosensor, and wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to:

process outputs of the biosensor to identify a biological or chemical substance associated with one of the stored prioritized targets.

19. The autonomous vehicle of claim 12, wherein the data storage further stores prioritized targets, and wherein the one or more sensors include a radiation-sensor, and wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to:

process outputs of the radiation-sensor to identify a radiation level associated with one of the stored prioritized targets.

20. The autonomous vehicle of claim 12, wherein the data storage further stores prioritized targets, and wherein the one or more sensors include an auditory-sensor, and wherein the one or more processors further execute the instructions for autonomous decision-making stored in the data storage to:

process outputs of the auditory-sensor to identify an auditory signature or level associated with one of the stored prioritized targets.