Autonomous vehicle research system

• US 10,296,003 B2
• Filed: 05/12/2017
• Issued: 05/21/2019
• Est. Priority Date: 05/12/2016
• Status: Active Grant

• Current Assignee: Georgia Tech Research Corporation (University System of Georgia)
• Original Assignee: Georgia Tech Research Corporation (University System of Georgia)
• Inventors: Goldfain, Brian, Drews, Paul, Rehg, James, Theodorou, Evangelos, Tsiotras, Panagiotis, Williams, Grady
• Primary Examiner(s): Alharbi, Adam M
• Application Number:
  US15/593,460
• Publication Number:
  US 20180364711A1
• Time in Patent Office: 739 Days
• CPC Class Codes: F02N 11/0807 Remote means
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• 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: G07C 5/008 communicating information to a remotely located station transmission systems for measured values G08C
• CPC Class Codes: G07C 5/085 using electronic data carriers

Abstract

An autonomous vehicle research system includes a vehicle having an attached frame and an engine. A sensing, control and data logging unit, mounted on the frame and in control communication with the engine senses vehicle operational parameters, controls the engine and to steering, and transmits operational data and log operational data. An operator control unit in communication with the sensing, control and data logging unit receives operational data from the sensing, control and data logging unit and presents visual real time display of the operational data. The operator control unit includes a manual cut-off switch that causes the engine to cease moving the vehicle. A remote control unit is manually switchable between a remote control mode and an autonomous control mode. In the remote control mode, the user controls the vehicle remotely. In the autonomous mode, the sensing, control and data logging unit controls the vehicle autonomously.

Claims

1. An autonomous vehicle research system, comprising:

(a) a vehicle including a frame and an engine attached thereto;

(b) a sensing, control and data logging unit mounted on the frame and in control communication with the engine, the sensing, control and data logging unit configured to;

sense vehicle operational parameters, to control the engine and to steer the vehicle, to transmit operational data wirelessly and log operational data;

(c) an operator control unit spaced apart from the vehicle, in wireless communication with the sensing, control and data logging unit, the operator control unit configured to receive operational data from the sensing, control and data logging unit and to present a visual real time display of the operational data, the operator control unit including a first manual cut-off switch that, when activated, causes the engine to cease moving the vehicle; and

(d) a remote control unit spaced apart from the operator control unit and from the vehicle, in wireless communication with the sensing, control and data logging unit, the remote control unit manually switchable between a remote control mode and an autonomous control mode so that when a user selects the remote control mode, the user controls the vehicle remotely, and when the user selects the autonomous mode, the sensing, control and data logging unit controls the vehicle autonomously.

2. The autonomous vehicle research system of claim 1, wherein the remote control unit further comprises a second manual cut-off switch that, when activated, causes the engine to cease moving the vehicle.

3. The autonomous vehicle research system of claim 1, wherein the sensing, control and data logging unit comprises:

(a) at least one vehicle state sensor that generates a vehicle state signal;

(b) at least one processor that receives the vehicle state signal and that is programmed to generate control signals that control speed and direction of the vehicle;

(c) a data logging drive that stores operational data received from the processor; and

(d) a wireless transceiver, in communication with the processor, that receives a wireless control signal form the remote control unit and that generates a wireless operational data signal to the operator control unit.

4. The autonomous vehicle research system of claim 3, wherein the processor is further programmed to detect a predetermined unusual event and to cause the engine to cease moving the vehicle upon detection of the unusual event.

5. The autonomous vehicle research system of claim 4, wherein the engine comprises an electric motor and further comprising a battery mounted on the frame that supplies power to the electric motor.

6. The autonomous vehicle research system of claim 5, wherein the event is an event selected from a list consisting of:

low battery level;

loss of global positioning system signal;

sensor failure; and

loss of remote control signal.

7. The autonomous vehicle research system of claim 1, wherein the sensing, control and data logging unit comprises at least one sensor selected from a list consisting of:

a stereo visual camera pair;

a global positioning sensor;

an inertial measurement unit sensor;

a light detection and ranging sensor, an ultra-sound sensor, a RADAR sensor, and a wheel-mounted Hall effect wheel speed sensor.

8. The autonomous vehicle research system of claim 1, wherein the remote control unit includes:

(a) a throttle control input;

(b) a steering input; and

(c) a remote/autonomous control input.

9. The autonomous vehicle research system of claim 1, wherein the vehicle is a land vehicle that includes:

(a) a plurality of wheels that are operatively coupled to the frame and that are driven by the engine; and

(b) a steering actuator, responsive to the a sensing, control and data logging unit, that causes two of the wheels to turn in response to control commands.

10. The autonomous vehicle research system of claim 1, further comprising a protective enclosure that protects the sensing, control and data logging unit from failure as a result of vehicle impact.

11. The autonomous vehicle research system of claim 10, wherein the protective enclosure comprises:

(a) an exterior housing that envelops as least a portion of the sensing, control and data logging unit and that resists deformation when subjected to no more than a predetermined force;

(b) a plurality of mounts that physically couple the exterior housing to the frame and that are configured to break away when the exterior housing is subjected to a force that is greater than the predetermined force.

12. The autonomous vehicle research system of claim 11, wherein the predetermined force comprises a 10 G force and wherein the plurality of mounts are configured to break away at a force of 8 G.

13. The autonomous vehicle research system of claim 11, wherein the exterior housing is electrically conductive so as to shield electronic components within the enclosure from electromagnetic interference.

14. The autonomous vehicle research system of claim 13, wherein the exterior housing defines at least one ventilation opening therethrough, the protective enclosure further comprising:

(a) a cooling fan that is configured to draw air through the ventilation opening; and

(b) a conductive mesh drawn across the ventilation opening and electrically coupled to the exterior housing so as to maintain electromagnetic shielding.

15. An autorally research vehicle system, comprising:

(a) a vehicle including a frame and an engine attached thereto;

(b) a sensing, control and data logging unit mounted on the frame and in control communication with the engine, the sensing, control and data logging unit configured to;

sense vehicle operational parameters, to control the engine and to steer the vehicle, to transmit operational data wirelessly and log operational data;

(c) an operator control unit spaced apart from the vehicle, in wireless communication with the sensing, control and data logging unit, the operator control unit configured to receive operational data from the sensing, control and data logging unit and to present a visual real time display of the operational data, the operator control unit including a first manual cut-off switch that, when activated, causes the engine to cease moving the vehicle;

(d) a remote control unit spaced apart from the operator control unit and from the vehicle, in wireless communication with the sensing, control and data logging unit, the remote control unit manually switchable between a remote control mode and an autonomous control mode so that when a user selects the remote control mode, the user controls the vehicle remotely, and when the user selects the autonomous mode, the sensing, control and data logging unit controls the vehicle autonomously, the remote control unit including;

(i) a throttle control input;

(ii) a steering input;

(iii) a user/autonomous operation control input; and

(iv) a second manual cut-off switch that, when activated, causes the engine to cease moving the vehicle;

(e) a plurality of wheels that are operatively coupled to the frame and that are driven by the engine;

(f) a steering actuator, responsive to the a sensing, control and data logging unit, that causes two of the wheels to turn in response to control commands; and

(g) a protective enclosure that protects the sensing, control and data logging unit from failure as a result of vehicle impact, the protective enclosure including;

(i) an exterior housing that envelops as least a portion of the sensing, control and data logging unit and that resists deformation when subjected to no more than a predetermined force; and

(ii) a plurality of mounts that physically couple the exterior housing to the frame and that are configured to fail when the exterior housing is subjected to a force that is greater than the predetermined force.

16. The autorally research vehicle system of claim 15, wherein the sensing, control and data logging unit comprises:

(a) at least one vehicle state sensor that generates a vehicle state signal;

(b) at least one processor that receives the vehicle state signal and that is programmed to generate control signals that control speed and direction of the vehicle, wherein the processor is further programmed to detect a predetermined unusual event and to cause the engine to cease moving the vehicle upon detection of the unusual event;

(c) a data logging drive that stores operational data received from the processor; and

(d) a wireless transceiver, in communication with the processor, that receives a wireless control signal form the remote control unit and that generates a wireless operational data signal to the operator control unit.

17. The autorally research vehicle system of claim 16, wherein the engine comprises an electric motor and further comprising a battery mounted on the frame that supplies power to the electric motor.

18. The autorally research vehicle system of claim 17, wherein the event is an event selected from a list consisting of:

low battery level;

loss of global positioning system signal;

sensor failure; and

loss of remote control signal.

19. The autorally research vehicle system of claim 15, wherein the sensing, control and data logging unit comprises at least one sensor selected from a list consisting of:

a stereo visual camera pair;

a global positioning sensor;

an inertial measurement unit sensor;

a light detection and ranging sensor, an ultra-sound sensor, a RADAR sensor, and a wheel-mounted Hall effect wheel speed sensor.

20. The autorally research vehicle system of claim 15, wherein the predetermined force comprises a 10 G force and wherein the exterior housing is electrically conductive so as to shield electronic components within the enclosure from electromagnetic interference and wherein the exterior housing defines at least one ventilation opening therethrough, the protective enclosure further comprising:

(a) a cooling fan that is configured to draw air through the ventilation opening; and

(b) a conductive mesh drawn across the ventilation opening and electrically coupled to the exterior housing so as to maintain electromagnetic shielding.