System and method for human operator intervention in autonomous vehicle operations
First Claim
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1. A method for piloting an autonomous vehicle, comprising:
- selecting, at a computer server, a remote vehicle operator from a group of remote vehicle operators, the remote vehicle operator associated with a control device;
receiving, at the computer server, a situation report associated with the autonomous vehicle;
sending to the control device, from the computer server, information from the situation report;
receiving, at the computer server, at least one operator command from the control device; and
sending, from the computer server, a vehicle command to the autonomous vehicle, the vehicle command based at least in part on the at least one operator command and including a command verification value;
causing, with the vehicle command, a finite state machine of the autonomous vehicle to transition from an active vehicle state of a plurality of vehicle states to a second vehicle state of the plurality of vehicle states after the autonomous vehicle determines that the vehicle command has precedence.
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Abstract
An autonomous vehicle system is configured to receive vehicle commands from one or more parties and to execute those vehicle commands in a way that prevents the execution of stale commands. The autonomous vehicle system includes a finite state machine and a command counter or stored vehicle timestamp, which are used to help reject invalid or stale vehicle commands.
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Citations
20 Claims
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1. A method for piloting an autonomous vehicle, comprising:
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selecting, at a computer server, a remote vehicle operator from a group of remote vehicle operators, the remote vehicle operator associated with a control device; receiving, at the computer server, a situation report associated with the autonomous vehicle; sending to the control device, from the computer server, information from the situation report; receiving, at the computer server, at least one operator command from the control device; and sending, from the computer server, a vehicle command to the autonomous vehicle, the vehicle command based at least in part on the at least one operator command and including a command verification value; causing, with the vehicle command, a finite state machine of the autonomous vehicle to transition from an active vehicle state of a plurality of vehicle states to a second vehicle state of the plurality of vehicle states after the autonomous vehicle determines that the vehicle command has precedence. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A method for piloting an autonomous vehicle, comprising:
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storing, in a computer memory of an autonomous vehicle, a first command verification value; broadcasting, from a communications system of the autonomous vehicle, a status message comprising the first command verification value; receiving a vehicle command via the communications system, the vehicle command comprising a second command verification value; determining, using a processor of at the autonomous vehicle, if the second command verification value is valid when compared to the first command verification value; responsive to determining that the second command verification value is valid, transitioning a finite state machine of the autonomous vehicle from an active vehicle state of a plurality of vehicle states to a second vehicle state of the plurality of vehicle states; and responsive to determining that the second command verification value is not valid, not transitioning the finite state machine from the active vehicle state of the plurality of vehicle states to the second vehicle state of the plurality of vehicle states. - View Dependent Claims (15, 16, 17)
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18. A method for piloting an autonomous vehicle, comprising:
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receiving, at a control device associated with a vehicle operator and remote from an autonomous aircraft, information associated with the autonomous aircraft, the information including at least one of a speed or a direction of travel of the autonomous aircraft; sending, from the control device to the autonomous aircraft while the autonomous aircraft is in flight, a command including a command verification value and vehicle command; and causing, with the vehicle command, a finite state machine of the autonomous aircraft to transition from an active vehicle state of a plurality of vehicle states to a second vehicle state of the plurality of vehicle states after the autonomous aircraft determines, using the command verification value, that the vehicle command has precedence. - View Dependent Claims (19, 20)
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Specification