SYSTEM AND METHOD FOR BEHAVIOR BASED CONTROL OF AN AUTONOMOUS VEHICLE
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Accused Products
Abstract
System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
90 Citations
43 Claims
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1-28. -28. (canceled)
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29. A vehicle capable of manned operation, the vehicle comprising:
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(a) a first subsystem, comprising; a computing medium having computer readable code embodied therein for selectively controlling the vehicle, the computer readable code comprising; (i) code for enabling the vehicle to be remotely controlled by an operator not physically present in the vehicle; (ii) code for causing the vehicle to be autonomously controlled without operator intervention; and (iii) code for enabling autonomous operation of a first vehicle feature in combination with operator control of a second vehicle feature; and (b) a second subsystem in electrical communication with the first subsystem, the second subsystem comprising; at least one actuator for manipulating one or more devices of the vehicle; and a controller for controlling at least one such actuator in response to an instruction received from the computing medium. - View Dependent Claims (30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43)
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Specification