Autonomous driving systems using aerial vehicles

• US 10,579,069 B2
• Filed: 10/09/2017
• Issued: 03/03/2020
• Est. Priority Date: 10/09/2017
• Status: Active Grant

• Current Assignee: Toyota Jidosha Kabushiki Kaisha (Toyota Motor Corporation)
• Original Assignee: Toyota Motor Engineering & Manufacturing North America Incorporated (Toyota Motor Corporation)
• Inventors: Dede, Ercan M.
• Primary Examiner(s): Cheung, Mary
• Application Number:
  US15/728,217
• Publication Number:
  US 20190107843A1
• Time in Patent Office: 876 Days
• CPC Class Codes: B60L 2200/10 Air crafts
• CPC Class Codes: B60L 53/12 Inductive energy transfer
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: G01C 21/005 with correlation of navigation data from several sources, e.g. map or contour matching G01C21/30 takes precedence
• CPC Class Codes: G01C 21/28 with correlation of data from several navigational instruments
• CPC Class Codes: G01C 21/3815 Road data
• CPC Class Codes: G01C 21/3852 Data derived from aerial or satellite images
• 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 1/0202 specially adapted to aircraft
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0285 using signals transmitted via a public communication network, e.g. GSM network
• CPC Class Codes: G05D 1/102 specially adapted for vertical take-off of aircraft
• CPC Class Codes: H04W 88/08 Access point devices
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles

Abstract

An autonomous driving system includes an aerial vehicle and an autonomous vehicle. The aerial vehicle includes an imaging device configured to obtain map data, an optical-to-electrical transducer configured to convert optical power to electrical power for operating the aerial vehicle, one or more processors, one or more memory modules, and machine readable instructions stored in the one or more memory modules of the aerial vehicle that, when executed by the one or more processors, cause the aerial vehicle to output the map data. The autonomous vehicle includes an optical power generator configured to transmit an optical power beam to the optical-to-electrical transducer of the aerial vehicle. The autonomous vehicle receives the map data output by the imaging device from the aerial vehicle.

Claims

1. An autonomous driving system comprising:

an aerial vehicle comprising;

an imaging device configured to obtain map data;

an optical-to-electrical transducer configured to convert optical power to electrical power for operating the aerial vehicle;

one or more processors;

one or more memory modules communicatively coupled to the one or more processors; and

machine readable instructions stored in the one or more memory modules of the aerial vehicle that, when executed by the one or more processors, cause the aerial vehicle to output the map data; and

an autonomous vehicle comprising;

an optical power generator configured to transmit an optical power beam to the optical-to-electrical transducer of the aerial vehicle;

one or more processors;

one or more memory modules communicatively coupled to the one or more processors of the autonomous vehicle; and

machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors of the autonomous vehicle, cause the autonomous vehicle to receive the map data output by the imaging device from the aerial vehicle.

2. The autonomous driving system of claim 1, wherein the aerial vehicle comprises a chargeable battery, and the electrical power is configured to charge the chargeable battery.

3. The autonomous driving system of claim 1, wherein the machine readable instructions stored in the one or more memory modules of the aerial vehicle cause the aerial vehicle to move along a path such that the optical-to-electrical transducer of the aerial vehicle is located at a fixed location relative to a location of the optical power generator of the autonomous vehicle.

4. The autonomous driving system of claim 3, wherein the machine readable instructions stored in the one or more memory modules of the autonomous vehicle cause the autonomous vehicle to transmit at least one of a location of the autonomous vehicle, a propagating direction of the autonomous vehicle, and a driving trajectory of the autonomous vehicle to the aerial vehicle, and

the path is determined based on the at least one of the location of the autonomous vehicle, the propagating direction of the autonomous vehicle, and the driving trajectory of the autonomous vehicle to the aerial vehicle.

5. The autonomous driving system of claim 4, wherein the location of the autonomous vehicle includes a latitude, a longitude, and an altitude.

6. The autonomous driving system of claim 1, wherein the map data includes at least one of information about one or more roads, information about one or more obstacles on the one or more roads, and traffic information.

7. The autonomous driving system of claim 1, wherein the machine readable instructions stored in the one or more memory modules of the aerial vehicle cause the aerial vehicle to transmit the map data to one or more other autonomous vehicles within a predetermined distance from the autonomous vehicle through a transmission tower.

8. The autonomous driving system of claim 1, wherein the machine readable instructions stored in the one or more memory modules of the aerial vehicle cause the aerial vehicle to:

receive a message from the autonomous vehicle indicating the autonomous vehicle is going to enter an obstacle area; and

move to a charging station in response to receiving the message.

9. The autonomous driving system of claim 1, wherein the machine readable instructions stored in the one or more memory modules of the aerial vehicle cause the aerial vehicle to:

receive a message from the autonomous vehicle indicating the autonomous vehicle is going to enter an obstacle area;

move toward another autonomous vehicle in response to receiving the message; and

receive an optical power beam from the another autonomous vehicle.

10. An aerial vehicle comprising:

an imaging device configured to obtain map data;

an optical-to-electrical transducer configured to;

receive an optical power beam from an optical power generator of an autonomous vehicle; and

convert optical power of the optical power beam to electrical power for operating the aerial vehicle;

one or more processors;

one or more memory modules communicatively coupled to the one or more processors; and

machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the aerial vehicle to output the map data to the autonomous vehicle.

11. The aerial vehicle of claim 10, further comprising a chargeable battery, wherein the electrical power is configured to charge the chargeable battery.

12. The aerial vehicle of claim 10, wherein the machine readable instructions stored in the one or more memory modules of the aerial vehicle cause the aerial vehicle to move along a path such that the optical-to-electrical transducer is located at a fixed location relative to a location of the optical power generator.

13. The aerial vehicle of claim 12, wherein the machine readable instructions stored in the one or more memory modules cause the aerial vehicle to receive at least one of a location of the autonomous vehicle, a propagating direction of the autonomous vehicle, and a driving trajectory of the autonomous vehicle to the aerial vehicle, and

the path is determined based on the at least one of the location of the autonomous vehicle, the propagating direction of the autonomous vehicle, and the driving trajectory of the autonomous vehicle to the aerial vehicle.

14. The aerial vehicle of claim 13, wherein the location of the autonomous vehicle includes a latitude, a longitude, and an altitude.

15. The aerial vehicle of claim 10, wherein the machine readable instructions stored in the one or more memory modules of the aerial vehicle cause the aerial vehicle to transmit the map data to one or more other autonomous vehicles within a predetermined distance from the autonomous vehicle through a transmission tower.

16. The aerial vehicle of claim 10, wherein the machine readable instructions stored in the one or more memory modules of the aerial vehicle cause the aerial vehicle to

receive a message from the autonomous vehicle indicating the autonomous vehicle is going to enter an obstacle area;

and

move to a charging station in response to receiving the message.

17. The aerial vehicle of claim 10, wherein the machine readable instructions stored in the one or more memory modules of the aerial vehicle cause the aerial vehicle to

receive a message from the autonomous vehicle indicating the autonomous vehicle is going to enter an obstacle area;

move toward another autonomous vehicle in response to receiving the message; and

receive an optical power beam from the another autonomous vehicle.

18. An autonomous vehicle comprising:

an optical power generator;

one or more processors;

one or more memory modules communicatively coupled to the one or more processors; and

machine readable instructions stored in the one or more memory modules that, when executed by the one or more processors, cause the autonomous vehicle to;

transmit, by the optical power generator, an optical power beam to an aerial vehicle; and

receive map data from the aerial vehicle.

19. The autonomous vehicle of claim 18, wherein the machine readable instructions stored in the one or more memory modules, when executed by the one or more processors, cause the autonomous vehicle to:

determine whether the aerial vehicle is within a predetermined distance; and

transmit, by the optical power generator, the optical power beam to the aerial vehicle in response to determining that the aerial vehicle is within the predetermined distance.

20. The autonomous vehicle of claim 18, wherein the machine readable instructions stored in the one or more memory modules of the autonomous vehicle cause the autonomous vehicle to transmit at least one of a location of the autonomous vehicle, a propagating direction of the autonomous vehicle, and a driving trajectory of the autonomous vehicle to the aerial vehicle.