COLLABORATIVE VEHICLE CONTROL USING BOTH HUMAN OPERATOR AND AUTOMATED CONTROLLER INPUT
First Claim
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1. A method of controlling a vehicle, comprising:
- obtaining, by a processor unit, a first control input, wherein the first control input is relative to a manual input provided by a human operator;
obtaining, by the processor unit, a number of sensor inputs, wherein the number of sensor inputs indicate a state of the vehicle;
generating, by the processor unit, a second control input using the number of sensor inputs;
determining, by the processor unit, a relationship between the first control input and the second control input;
selecting, by the processor unit, one of the first control input and the second control input based on the determined relationship between the first control input and the second control input;
responsive to selecting the first control input, using the manual input provided by the human operator to control the vehicle; and
responsive to selecting the second control input, using the second control input to control the vehicle.
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Abstract
Control of a vehicle to perform a task employs first control input provided by a human operator and second control input provided by an automated controller. A relationship between the first control input and the second control input is determined. Either the first control input or the second control input is used to control the vehicle to perform the task based on the determined relationship. An indicator may be used to indicate to the operator when the control input provided by the human operator is being used to control the vehicle.
40 Citations
25 Claims
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1. A method of controlling a vehicle, comprising:
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obtaining, by a processor unit, a first control input, wherein the first control input is relative to a manual input provided by a human operator; obtaining, by the processor unit, a number of sensor inputs, wherein the number of sensor inputs indicate a state of the vehicle; generating, by the processor unit, a second control input using the number of sensor inputs; determining, by the processor unit, a relationship between the first control input and the second control input; selecting, by the processor unit, one of the first control input and the second control input based on the determined relationship between the first control input and the second control input; responsive to selecting the first control input, using the manual input provided by the human operator to control the vehicle; and responsive to selecting the second control input, using the second control input to control the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An apparatus, comprising:
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a human operator controller configured to receive manual input from a human operator to control a vehicle, wherein the human operator controller is configured to provide a first control input relative to the manual input; a number of sensors mounted on the vehicle, wherein the number of sensors are configured to generate a number of sensor inputs and wherein the number of sensor inputs indicate a state of the vehicle; and a processor unit coupled to the human operator controller and to the number of sensors and configured to generate a second control input using the number of sensor inputs, determine a relationship between the first control input and the second control input, select one of the first control input and the second control input based on the determined relationship between the first control input and the second control input, generate first control signals to control the vehicle using the manual input provided by the human operator responsive to selecting the first control input, and generate the first control signals to control the vehicle using the second control input responsive to selecting the second control input. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17)
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18. A computer program product for controlling a vehicle, comprising:
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a computer readable storage medium; first program instructions to obtain a first control input, wherein the first control input is relative to a manual input provided by a human operator; second program instructions to obtain a number of sensor inputs, wherein the number of sensor inputs indicate a state of the vehicle; third program instructions to generate a second control input using the number of sensor inputs; fourth program instructions to determine a relationship between the first control input and the second control input; fifth program instructions to select one of the first control input and the second control input based on the determined relationship between the first control input and the second control input; sixth program instructions to generate first control signals to control the vehicle using the manual input provided by the human operator responsive to selecting the first control input; seventh program instructions to generate the first control signals to control the vehicle using the second control input responsive to selecting the second control input; and wherein the first, second, third, fourth, fifth, sixth, and seventh program instructions are stored on the computer readable storage medium. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification