Multi-Sensor Safe Path System For Autonomous Vehicles

• US 20190310626A1
• Filed: 06/24/2019
• Published: 10/10/2019
• Est. Priority Date: 12/18/2017
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Salour, Ali, Highland, Gregory S., Smith, Lori S.
• Granted Patent: US 10,942,515 B2
• Time in Patent Office: Days
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

Systems and methods for guiding autonomous vehicles by monitoring the entire planned path and sending alert messages to a vehicle management system for delays, reroute, or emergency stop to avoid collision with an obstruction. The system initiates alternative paths when the primary path is blocked and is capable of reporting a vehicle identifier and the current positions of the vehicle and any obstruction along the planned path of the autonomous vehicle.

Claims

1. A system for guiding an autonomous vehicle, the system comprising:

an autonomous vehicle configured to travel along a path intersecting an area;

a camera oriented toward the path;

an image processing server configured to receive and process image data acquired by the camera to determine a position of an object in the area;

a path control server configured to receive processed data from the image processing server and configured to generate vehicle guidance information when the path control server determines at least one of the following;

(a) that the object is in close proximity to the autonomous vehicle, and (b) that the object is in an obstructing position along the path of the autonomous vehicle; and

a vehicle management system configured to receive the vehicle guidance information and to transmit corresponding control signals to the autonomous vehicle,

wherein the autonomous vehicle is configured to alter a current movement in response to receipt of the control signals.

2. The system as recited in claim 1, further including an interface configured to convert the vehicle guidance information received from the path control server into a format acceptable to the vehicle management system.

3. The system as recited in claim 2, wherein the image processing server is further configured to process the image data to detect a unique identifier on the autonomous vehicle;

and wherein the interface is further configured to generate vehicle identification signals representing the unique identifier, the vehicle identification signals being in a format acceptable to the vehicle management system.

4. The system as recited in claim 1, wherein the image processing server is further configured to determine a current position of the autonomous vehicle along the path.

5. The system as recited in claim 4, wherein the path control server is further configured to determine a distance between the object and the current position of the autonomous vehicle and then determine when the distance is less than a specified threshold, wherein when the distance is less than the specified threshold, at least some of the vehicle guidance information generated represents a command to initiate an emergency-stop procedure at the autonomous vehicle.

6. The system of claim 1, wherein when the path control server determines the object is in the obstructing position along the path of the autonomous vehicle, at least some of the vehicle guidance information generated represents a command to at least one of delay and slow down the autonomous vehicle.

7. The system of claim 6, wherein the path control server is further configured to:

determine a current time interval during which the object has been in the obstructing position;

determine when the current time interval exceeds a specified threshold; and

when the current time interval exceeds the specified threshold, determine an alternative path for the autonomous vehicle that avoids the object, wherein at least some of the vehicle guidance information generated represents routing data for the alternative path.

8. The system as recited in claim 1, wherein the autonomous vehicle is an automated guided vehicle.

9. The system as recited in claim 1, wherein the autonomous vehicle is a mobile robot.

10. A method for guiding an autonomous vehicle in an area, the area including a path and a camera oriented toward the path, the autonomous vehicle configured to travel along the path, the method comprising:

acquiring image data using the camera;

processing the image data to determine a position of an object in the area;

determining at least one of the following;

(a) that the object is in close proximity to the autonomous vehicle and (b) that the object is in an obstructing position along the path of the autonomous vehicle;

generating data representing vehicle guidance information;

converting the vehicle guidance information into corresponding control signals;

transmitting the control signals to the autonomous vehicle; and

altering a current movement of the autonomous vehicle in response to receipt of the control signals.

11. The method as recited in claim 10, further comprising determining a current position of the autonomous vehicle along the path.

12. The method as recited in claim 11, wherein the determining that the object is in close proximity to the autonomous vehicle further comprises:

determining a distance between the object and the current position of the autonomous vehicle; and

determining when the distance is less than a specified threshold,

wherein when the distance is less than the specified threshold, at least some of the vehicle guidance information generated represents a command to initiate an emergency-stop procedure at the autonomous vehicle.

13. The method as recited in claim 10, wherein after determining that the object is in an obstructing position along the path of the autonomous vehicle, at least some of the vehicle guidance information generated represents a command to at least one of delay and slow down the autonomous vehicle.

14. The method as recited in claim 13, further comprising processing the image data to determine whether the autonomous vehicle is loaded or unloaded, wherein when the autonomous vehicle is loaded, then the command to slow down the autonomous vehicle includes a predetermined slow down rate designed for maximum load conditions.

15. The method as recited in claim 13, further comprising:

determining a current time interval during which the object has been in the obstructing position;

determining when the current time interval exceeds a specified threshold; and

when the current time interval exceeds the specified threshold, determining an alternative path for the autonomous vehicle that avoids the object,

wherein at least some of the vehicle guidance information generated represents routing data for the alternative path.

16. The method as recited in claim 10, further comprising:

processing the image data to detect a unique identifier on the autonomous vehicle;

generating vehicle identification signals representing the unique identifier, the vehicle identification signals having a format acceptable to a vehicle management system; and

transmitting the vehicle identification signals to the vehicle management system along with the vehicle guidance information.

17. The method as recited in claim 10, wherein the autonomous vehicle is an automated guided vehicle.

18. The method as recited in claim 10, wherein the autonomous vehicle is a mobile robot.

19. A method for guiding an autonomous vehicle in an area, the area including a path and a camera oriented toward the path, the autonomous vehicle configured to travel along the path, the method comprising:

acquiring image data using the camera;

processing the image data to determine a position of an object in the area;

determining that the object is at least one of the following;

(a) in close proximity to the autonomous vehicle and (b) in an obstructing position along the path of the autonomous vehicle;

generating data representing vehicle guidance information;

transmitting control signals, which are a function of the vehicle guidance information and configured to control movement of the autonomous vehicle, to the autonomous vehicle; and

altering a current movement of the autonomous vehicle in response to receipt of the control signals.

20. The method of claim 19, further comprising:

converting the vehicle guidance information into a format acceptable to a vehicle management system; and

transmitting the vehicle guidance information to the vehicle management system, the vehicle management system being configured receive the vehicle guidance information and to transmit corresponding control signals to the autonomous vehicle.