Methods, devices and systems for high-speed autonomous vehicle and high-speed autonomous vehicle

• US 20060095171A1
• Filed: 11/03/2004
• Published: 05/04/2006
• Est. Priority Date: 11/02/2004
• Status: Abandoned Application

• Current Assignee: Carnegie Mellon University
• Original Assignee: Carnegie Mellon University
• Inventors: Kato, Hiroki, Hodge, Vanessa, Miller, Nicholas Michael, Urmson, Chris, Peterson, Kevin Michael, Clark, Michael Neil, Johnson-Roberson, Matthew Kai, Smith, Byron Keith, Whittaker, William L., Anhalt, Joshua
• Application Number:
  US10/980,389
• Publication Number:
  US 20060095171A1
• Time in Patent Office: Days
• US Class Current: 701/25
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

The invention comprises an autonomous off-road vehicle capable of traveling at high speeds. Preferred embodiments of the invention comprise a system for sensory instrument stabilization comprises three axis assemblies movable about three orthogonal axes. The invention also comprises novel methods for generating a high accuracy route for a robotically controlled vehicle. Other aspects of the invention include drive time, perception-based path adjustments to steer a robotic vehicle within an intended corridor. Another embodiment of the invention comprises the consideration of vehicular dynamics in generating a high accuracy route and in steering a robotic vehicle within an intended corridor.

Claims

1. A sensory instrument stabilizing system comprising:

a. a first axis assembly operable to be rotated about a first axis, the first axis assembly closely coupled with an actuator and a means to detect angular acceleration about the first axis;

b. a second axis assembly coupled with the first axis assembly and operable to be rotated about the a second axis, the coupled first axis assembly and second axis assembly permitting the stabilizing system to move about the first and second axis, second axis assembly closely coupled with an actuator and a means to detect angular acceleration about the second axis;

c. a third axis assembly coupled with the first axis assembly and the second axis assembly and operable to rotated about a third axis, the coupled first axis assembly, second axis assembly, and third axis assembly permitting the stabilizing system to be rotated about the first, second and third, the third axis assembly closely coupled an actuator with a means to detect angular acceleration about the third axis; and

d. a processing means in communication with each means to detect angular acceleration and each actuator, the processing means programmed to calculate an angular distance necessary to off-set detected angular acceleration and operable to instruct at least one of the actuators to actuate at least one of the assemblies a said calculated distance.

2. The sensory instrument stabilizing system of claim 1, wherein said first, second, and third axes are orthogonal to each other.

3. The sensory instrument stabilizing system of claim 1, wherein said first axis is yaw, said second axis is roll, and said third axis is pitch and wherein said first axis assembly has a moment of inertia higher than a moment of inertial of second and third axis assemblies and the second axis assembly has a moment of inertia higher than that of the third axis assembly.

4. The sensory instrument stabilizing system of claim 1, wherein the first, second, and third axis assemblies further comprise a means for detecting an absolute angular displacement for the first, second, and third axis assembly respectively.

5. The sensory instrument stabilizing system of claim 1, wherein the means to detect angular acceleration comprises a fiber optic gyro.

6. The sensory instrument stabilizing system of claim 1, further comprising a sensing means mounted to the third axis assembly.

7. The sensory instrument stabilizing system of claim 6, wherein the sensing means comprises a LIDAR.

8. The sensory instrument stabilizing system of claim 6, wherein the sensing means comprises stereoscopic camera.

9. The sensory instrument stabilizing system of claim 6, wherein the sensing means comprises a video camera

11. The sensory instrument stabilizing system of claim 1, wherein said first, second, and third axes are orthogonal to each other.

10. A sensory instrument stabilizing system comprising:

a. a first axis assembly operable to be rotated about a first axis, the first axis assembly closely coupled with an actuator and a means to detect angular velocity about the first axis;

b. a second axis assembly coupled with the first axis assembly and operable to be rotated about the a second axis, the coupled first axis assembly and second axis assembly permitting the stabilizing system to move about the first and second axis, second axis assembly closely coupled with an actuator and a means to detect angular velocity about the second axis;

c. a third axis assembly coupled with the first axis assembly and the second axis assembly and operable to rotated about a third axis, the coupled first axis assembly, second axis assembly, and third axis assembly permitting the stabilizing system to be rotated about the first, second and third, the third axis assembly, the third axis assembly closely coupled with an actuator and with a means to detect velocity about the third axis; and

d. a processing means in communication with each means to detect angular velocity and each actuator, the processing means programmed to calculate an angular distance necessary to off-set said detected angular velocity and operable to instruct at least one of the actuators to actuate at least one of the assemblies said calculated distance.

12. The sensory instrument stabilizing system of claim 10 wherein said first axis is yaw, said second axis is roll, and said third axis is pitch and wherein said first axis assembly has a moment of inertia higher than a moment of inertia of the second and third axis assemblies and the second axis assembly has a moment of inertia higher than the moment of inertia of the third axis assembly.

13. The sensory instrument stabilizing system of claim 10, wherein the first, second, and third axis assemblies further comprise a means for detecting an absolute angular displacement for the first, second, and third axis assembly respectively.

14. The sensory instrument stabilizing system of claim 10, wherein the means to detect angular velocity comprises a fiber optic gyro.

15. The sensory instrument stabilizing system of claim 10, further comprising a sensing means mounted to the third axis assembly.

16. The sensory instrument stabilizing system of claim 15, wherein the sensing means comprises a LIDAR.

17. The sensory instrument stabilizing system of claim 15, wherein the sensing means comprises stereoscopic camera.

18. The sensory instrument stabilizing system of claim 15, wherein the sensing means comprises a video camera

19. A method to stabilize sensory instrumentation on a vehicle, comprising the steps of:

a. selecting a vector;

b. detecting angular acceleration relative to the rotation of said instrumentation;

c. calculating an angular distance necessary to align said instrumentation with said selected vector in response to said detected angular acceleration; and

d. displacing said instrumentation the calculated angular distance.

21. The method of claims 19 or 20 further comprising the steps of:

a. detecting an angular displacement relative to the selected vector; and

b. calculating an angular distance necessary to align said instrumentation with said vector; and

c. displacing said instrumentation the calculated distance

22. The method of claims 19 or 20 further comprising the step of detecting a forward speed of the vehicle.

23. The method of claim 19 or 20 further comprising the step of determining a safe stopping distance of the vehicle and selecting a vector that is within said safe stopping distance.

24. The method of claim 19 or 20 further comprising the steps of:

a. providing a preplanned route; and

b. pointing the instrumentation in the direction of the preplanned route.

20. A method to stabilize sensory instrumentation on a vehicle, comprising the steps of:

a. selecting a vector;

b. detecting angular velocity relative to the rotation of said instrumentation;

c. calculating an angular distance necessary to align said instrumentation with said selected vector in response to said detected angular velocity; and

d. displacing said instrumentation the calculated angular distance.

25. A method for generating a high accuracy route for a robotic vehicle comprising the steps of:

a. gathering mapping data related to a region of intended travel and fusing said mapping data into a model, said region and model corresponding to a first actual location;

b. providing a travel corridor within said model, said travel corridor corresponding to a second actual location within said first actual location;

c. running a sensory means over said second actual location to collect high-resolution data related to the said second actual location;

d. assigning a plurality of travel costs associated with said second actual location based on the collected data related to conditions of said actual corridor and said mapping data;

e. generating a first route through said corridor based on an evaluation of said costs.

27. The method of claims 25 or 26 further comprising the steps of:

a. parsing said first route into route segments;

b. assigning said segments to human editors;

c. human editing said route segments; and

d. generating a second route comprising said human edited route segments.

28. The method of claims 25 or 26 further comprising the step of assigning waypoints within said first routes based on said evaluation.

29. The method of claims 25 or 26 further comprising the steps of:

a. assigning speed values to said first route based on said evaluation; and

b. requiring said vehicle to travel a selected speed based on said speed values.

30. The method of claim 27 wherein said step of human editing further comprises determining physical, geographical, and legal boundaries.

31. The method of claim 25 or 26 wherein said collected data and said mapping data relates to a distance between at least two selected points in the second actual location.

32. The method of claims 25 or 26 wherein said collected data and said mapping data relates to slope between at least two selected points in the second actual location.

33. The method of claims 25 or 26 wherein said collected data and said mapping data relates to the soil type between at least two selected points in the second actual location.

34. The method of claim 27, wherein said step of parsing the first route into segments further comprises parsing the first route into equal length segments.

26. A method for generating a high accuracy route for a robotic vehicle comprising the steps of:

a. gathering mapping data related to a region of intended travel and fusing said mapping data into a model, said region and model corresponding to a first actual location;

b. providing a travel corridor within said model, said travel corridor corresponding to a second actual location within through said first actual location;

c. assigning a plurality of travel costs associated with said second actual location based on the collected data and said actual corridor and said mapping data; and

d. generating a first route through said corridor based on an evaluation of said costs.

35. A method for providing perception-based path adjustments to steer a robotic vehicle comprising the steps of:

a. providing a preselected corridor through which the vehicle is intended to travel;

b. collecting localized sensory data of the corridor upon which the vehicle is traveling;

c. assembling the collected data into a model;

d. assigning a first set of travel costs to selected portions of the model;

e. aggregating said portions into aggregates;

f. determining the maximum travel cost of the aggregates and assigning a second set of costs wherein said second set of costs comprises the maximum travel cost of the aggregate;

g. evaluating said second set of costs; and

h. providing a vehicle path based on said evaluation of said second set of costs.