AUTONOMOUS VEHICLE AND METHOD FOR COORDINATING THE PATHS OF MULTIPLE AUTONOMOUS VEHICLES
First Claim
1. A non-transitory processor readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to:
- generate, at a first autonomous vehicle, a first planned ground taxiing path for the first autonomous vehicle to taxi at an airport, the first planned ground taxiing path including a destination of the first autonomous vehicle at the airport;
receive, at the first autonomous vehicle, from a second autonomous vehicle, a second planned ground taxiing path associated with the second autonomous vehicle to taxi at the airport and including a destination of the second autonomous vehicle at the airport;
generate, at the first autonomous vehicle in response to receiving the second planned ground taxiing path, a third planned ground taxiing path based, at least in part, on the first planned ground taxiing path and the second planned ground taxiing path, the third planned ground taxiing path generated in response to a conflict between the first planned ground taxiing path and the second planned ground taxiing path;
transmit the third planned ground taxiing path; and
cause the first autonomous vehicle to taxi to the destination via the third planned ground taxiing path.
2 Assignments
0 Petitions
Accused Products
Abstract
A non-transitory processor-readable medium storing code causes a processor at a first vehicle (e.g., a first autonomous vehicle) to generate a first planned path based on a current position of the first vehicle and a mission requirement assigned to the first vehicle. A first planned path associated with a second vehicle (e.g., a second autonomous vehicle), which is based on a current position of the second vehicle and a mission requirement assigned to the second vehicle, is received at the first vehicle. After the first planned path associated with the second vehicle is received, a second planned path is generated based on the first planned path associated with the second vehicle and at least one of the mission requirement assigned to the first vehicle or the first planned path of the first vehicle. The second planned path of the first vehicle is transmitted to the second vehicle.
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Citations
30 Claims
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1. A non-transitory processor readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to:
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generate, at a first autonomous vehicle, a first planned ground taxiing path for the first autonomous vehicle to taxi at an airport, the first planned ground taxiing path including a destination of the first autonomous vehicle at the airport; receive, at the first autonomous vehicle, from a second autonomous vehicle, a second planned ground taxiing path associated with the second autonomous vehicle to taxi at the airport and including a destination of the second autonomous vehicle at the airport; generate, at the first autonomous vehicle in response to receiving the second planned ground taxiing path, a third planned ground taxiing path based, at least in part, on the first planned ground taxiing path and the second planned ground taxiing path, the third planned ground taxiing path generated in response to a conflict between the first planned ground taxiing path and the second planned ground taxiing path; transmit the third planned ground taxiing path; and cause the first autonomous vehicle to taxi to the destination via the third planned ground taxiing path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A non-transitory processor readable medium storing code representing code to cause the processor to:
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receive, at a first autonomous vehicle operating at an airport, a first planned ground taxiing path associated with a second autonomous vehicle operating at the airport and including an indication of a priority of the first planned ground taxiing path; determine that a conflict exists between the first planned ground taxiing path and a second planned ground taxiing path, the second planned ground taxiing path associated with the first autonomous vehicle; in response to determining that the conflict exists, generate a third planned ground taxiing path different from the second planned ground taxiing path, the third planned ground taxiing path resolving the conflict such that the second autonomous vehicle can follow the first planned ground taxiing path, the third planned ground taxiing path generated in response to a priority of the second planned ground taxiing path being lower than the priority of the first planned ground taxiing path; transmit the third planned ground taxiing path; receive, after transmitting the third planned ground taxiing path, the first planned ground taxiing path; and cause the first autonomous vehicle to taxi according to the third planned ground taxiing path. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A non-transitory processor readable medium storing code representing code to cause the processor to:
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receive, at a control station, a first planned ground route for an autonomous vehicle operating at an airport; after receiving the first planned ground route, receive a second planned ground route for the autonomous vehicle, the second planned ground route being different from the first planned ground route, the second planned ground route generated by the autonomous vehicle in response to the autonomous vehicle determining a conflict exists between the first planned ground route and a third planned ground route, the third planned ground route being a ground route for a vehicle; receive an indication of a position of the autonomous vehicle; determine the position of the autonomous vehicle is not along the second planned ground route; and transmit a signal indicating a deviation of the autonomous vehicle. - View Dependent Claims (20, 21, 22, 23)
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24. A method comprising:
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generating, at an autonomous vehicle, a first planned path for a taxiing mission and including a current position of the autonomous vehicle and a destination, the taxiing mission having a first priority; receiving a second planned path associated with a vehicle, the second planned path having a second priority lower than the first priority; transmitting the first planned path; determining that a conflict exists between the first planned path and the second planned path in response to receiving the second planned path; receiving a third planned path associated with the vehicle after receiving the second planned path, the third planned path different from the second planned path; and following the first planned path. - View Dependent Claims (25, 26, 27, 28, 29, 30)
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Specification