Systems and methods for collaboration between autonomous vehicles

• US 10,481,600 B2
• Filed: 09/15/2017
• Issued: 11/19/2019
• Est. Priority Date: 09/15/2017
• Status: Active Grant

• Current Assignee: GM Global Technology Operations LLC (General Motors Company)
• Original Assignee: GM Global Technology Operations LLC (General Motors Company)
• Inventors: Yen, Chih-hung, Hu, Yao, Zhang, Yilu, Krajewski, Paul E., Holland, Steven W., Salman, Mutasim A., Huang, Xiaoyu, Sarwar, Azeem
• Primary Examiner(s): Badii, Behrang
• Assistant Examiner(s): Greene, Daniel L
• Application Number:
  US15/705,394
• Publication Number:
  US 20190086914A1
• Time in Patent Office: 795 Days
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• 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 1/0293 Convoy travelling
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: H04L 67/1046 Joining mechanisms
• CPC Class Codes: H04L 67/1051 Group master selection mechanisms
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks

Abstract

Systems and method are provided for collaboration between autonomous vehicles. In one embodiment, a processor-implemented method for coordinating travel between multiple autonomous vehicles is provided. The method includes sending a collaboration request to one or more vehicles in an area to form a group to perform a mission, receiving an acceptance of the collaboration request to join the group wherein the group includes a plurality of vehicles, cooperating in assigning leading functions for the group to one or more of the plurality of vehicles in the group, cooperating in mission negotiations for the group, cooperating in determining a formation for the group, and cooperating in generating a trajectory for the group. The vehicles in the group are operated in accordance with the determined formation and generated trajectory.

Claims

1. A processor-implemented method for coordinating travel between multiple autonomous vehicles, the method comprising:

sending, by a first processor in a first autonomously driven vehicle, a collaboration request to one or more autonomously driven vehicles to travel together along a roadway as a group of autonomous vehicles;

receiving, by the first processor, an acceptance of the collaboration request to join the group of autonomous vehicles;

calculating, by a second processor, a relative strength index for the software, controller, and hardware sensors onboard an autonomous vehicle for each vehicle in the group, wherein the second processor may or may not be in the first autonomously driven vehicle;

assigning, by the second processor, an autonomous vehicle to function as a leader for mission planning for the group based on the relative strength index of the autonomous vehicle and an autonomous vehicle to function as a leader for formation planning and trajectory planning for the group based on the relative strength index of the autonomous vehicle, wherein the autonomous vehicle assigned as the leader for mission planning may or may not be the same autonomous vehicle assigned as the leader for formation planning and trajectory planning;

identifying, by a third processor which is in the vehicle assigned to function as a leader for mission planning, a mission for a group and a target for optimization during the mission when agreement on the mission is reached by a plurality of the vehicles in the group;

determining, by a fourth processor which is in the vehicle assigned to function as a leader for formation planning and trajectory planning, a formation for the group;

generating, by the fourth processor, a trajectory for the group;

translating, by the fourth processor, the formation and trajectory into instructions for the vehicles in the group, and

providing, by the fourth processor, the instructions to the vehicles in the group;

wherein the vehicles in the group are operated in accordance with the determined formation and generated trajectory.

2. The method of claim 1, wherein sending a collaboration request comprises receiving at a first vehicle a request from a remote-control center to form a group and sending a collaboration request from the first vehicle responsive to the request by the remote-control center.

3. The method of claim 1, wherein sending a collaboration request comprises receiving a request from an occupant of a first vehicle to form a group and sending a collaboration request from the first vehicle responsive to the request by the occupant of the vehicle.

4. The method of claim 1, wherein sending a collaboration request comprises an automatic determination by a first vehicle to form a group and sending a collaboration request from the first vehicle responsive to the automatic determination by the vehicle.

5. The method of claim 1, wherein the second processor is in a remote-control center.

6. The method of claim 1, wherein the second processor is in one of the plurality of autonomous vehicles.

7. The method of claim 1, wherein

assigning an autonomous vehicle to function as a leader comprises assigning leading functions to one or more vehicles based on the relative strength of the software, controller and sensors of the one or more assigned vehicles.

8. The method of claim 1, wherein the target for optimization comprises reducing the time to a destination.

9. The method of claim 1, wherein the target for optimization comprises lengthening vehicle service life.

10. The method of claim 1, wherein the mission comprises travelling to a destination.

11. The method of claim 1, wherein the mission comprises assisting a vehicle experiencing abnormal operations.

12. The method of claim 1, wherein the target for optimization comprises improving energy efficiency during travel.

13. The method of claim 1, wherein determining a formation for the group and generating a trajectory for the group comprise receiving vehicle data from each of the other vehicles in the group, the received vehicle data including one or more of vehicle speed, direction, obstacles detected, requests to leave the group, and a distress call.

14. The method of claim 1, wherein determining a formation for the group and generating a trajectory for the group comprise determining a formation based on agreed to rescue operations or target for optimization, and based on shared data from the vehicles in the group.

15. The method of claim 1, further comprising operating one of the vehicles in the group in accordance with the determined formation and generated trajectory by applying instructions calculated for the group, the instructions including one or more of throttle, steering and braking instructions.

16. A processor-implemented method in an autonomous vehicle for collaboration with another autonomous vehicle, the method comprising:

detecting, by a processor in a first autonomous vehicle, abnormal driving behavior by a second autonomous vehicle caused by a faulty sensor on the second autonomous vehicle;

sending, by the processor, a collaboration request to the second autonomous vehicle responsive to detection of the abnormal driving behavior by the second autonomous vehicle;

receiving, by the processor, an acceptance of the collaboration request;

detecting, by the processor, a condition the second autonomous vehicle is unable to detect due to the faulty sensor; and

communicating, using the processor, information regarding the condition to the second autonomous vehicle.

17. The method of claim 16, wherein receiving an acceptance of the collaboration request comprises receiving an indication of the condition the second vehicle is unable to detect.

18. A processor-implemented method in an autonomous vehicle for collaboration with another autonomous vehicle, the method comprising:

detecting, by a processor in a first vehicle, a desire by a first autonomous vehicle for collaboration with a second autonomous vehicle due to a faulty or uncalibrated sensor on the first autonomous vehicle;

sending, by the processor, a collaboration request to the second autonomous vehicle;

receiving, by the processor, an acceptance of the collaboration request;

waiting for the second autonomous vehicle to detect a condition that could not be detected by the first autonomous vehicle due to the faulty or uncalibrated sensor; and

receiving, by the processor, detected information from the second autonomous vehicle that could not be detected by the first autonomous vehicle due to the faulty or uncalibrated sensor.

19. The method of claim 18, wherein sending a collaboration request comprises searching for an autonomous vehicle in the area and sending the collaboration request to the autonomous vehicle in the area located during the searching.

20. The method of claim 18, further comprising calibrating the uncalibrated sensor using the received information.