DYNAMIC IN-CABIN AUTONOMOUS VEHICLE CONTROL SYSTEMS

• US 20190317500A1
• Filed: 06/27/2019
• Published: 10/17/2019
• Est. Priority Date: 05/27/2016
• Status: Active Grant

• Current Assignee: Autonomous Solutions, Inc., CNH Industrial America LLC (CNH Industrial N.V.)
• Original Assignee: Autonomous Solutions, Inc., CNH Industrial America LLC (CNH Industrial N.V.)
• Inventors: Foster, Christopher A., Posselius, John H., Turpin, Bret T., Morwood, Daniel J.
• Granted Patent: US 11,294,374 B2
• Time in Patent Office: Days
• CPC Class Codes: A01B 69/00 Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
• CPC Class Codes: B62D 49/06 adapted for multi-purpose use
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

One embodiment describes a control system in an automation system including a first portion located at a first vehicle, which includes a first autonomous module that autonomously controls operation of the first vehicle to perform operations in a first area based at least in part on a first target operation result while the first portion is in an autonomous mode; and a second portion located at a second vehicle, in which the second portion includes a second autonomous module that autonomously controls operation of the second vehicle to perform operations in a second area based at least in part on a second target operation result while the second portion is in the autonomous mode and a first command module that determines the first target operation result and the second target operation result based at least in part on a global plan that indicates a total target operation result.

Claims

1. A tangible, non-transitory, computer-readable media configured to store instructions executable by one or more processors in an automation system, wherein the instructions comprise instructions to:

activate, using the one or more processors, a first command module located at a first autonomous vehicle in the automation system to enable an operator to centrally control, monitor, or both control and monitor operation of the automation system from the first autonomous vehicle;

determine, using the one or more processors, location of the operator in the automation system; and

when location of the operator is at a second autonomous vehicle in the automation system;

deactivate, using the one or more processors, the first command module; and

activate, using the one or more processors, a second command module located at the second autonomous vehicle to enable the operator to centrally control, monitor, or both control and monitor the operation of the automation system from the second autonomous vehicle.

2. The computer-readable media of claim 1, comprising instructions to:

autonomously determine, using the one or more processors, first operational parameters which when implemented in the first autonomous vehicle facilitates performing a first agricultural operation at first target locations within a first target area; and

autonomously determine, using the one or more processors, second operational parameters which when implemented in the second autonomous vehicle facilitates performing a second agricultural operation at second target locations within a second target area.

3. The computer-readable media of claim 1, comprising instructions to:

determine, using the one or more processors, first target operation results of the first autonomous vehicle and second target operation results of the second autonomous vehicle based at least in part on a global plan;

communicate, using the one or more processors, the first target operation results to a first autonomous module located at the first autonomous vehicle to enable the first autonomous module to relatively independently control operation of the first autonomous vehicle based at least in part on the first target operation results; and

communicate, using the one or more processors, the second target operation results to a second autonomous module located at the second autonomous vehicle to enable the second autonomous module to relatively independently control operation of the second autonomous vehicle based at least in part on the second target operation results.

4. The computer-readable media of claim 3, comprising instructions to:

determine, using the one or more processors, first operational parameters to achieve the first target operation results when implemented in the first autonomous vehicle;

instruct, using the one or more processors, the first autonomous vehicle to implement the first operational parameters;

determine, using the one or more processors, second operational parameters to achieve the second target operation results when implemented in the second autonomous vehicle; and

instruct, using the one or more processors, the second autonomous vehicle to implement the second operational parameters.

5. The computer-readable media of claim 1, comprising instructions to:

receive, using the one or more processors, a user input from the operator indicating that the operator is planning to move from the first autonomous vehicle to the second autonomous vehicle;

receive, using the one or more processors, sensor data from a sensor on the second autonomous vehicle indicating that the operator is at the second autonomous vehicle;

or both.

6. The computer-readable media of claim 1, comprising instructions to:

receive, using the one or more processors, sensor data from one or more sensors; and

instruct, using the one or more processors, a display of the second autonomous vehicle to present a visual representation of the sensor data to enable the operator to control, monitor, or both control and monitor operation of the automation system from the second autonomous vehicle based at least in part on the sensor data and information gathered by the operator while located in a cabin of the second autonomous vehicle.

7. An autonomous vehicle system comprising:

a first autonomous module configured to be deployed in a first autonomous vehicle to autonomously control operation of the first autonomous vehicle while the first autonomous vehicle is in an autonomous mode;

a first command module configured to be deployed in the first autonomous vehicle, wherein the autonomous vehicle system is configured to activate the first command module when an operator is located at the first autonomous vehicle to enable the operator to centrally control, monitor, or both control and monitor operation of the autonomous vehicle system from the first autonomous vehicle;

a second autonomous module configured to be deployed in a second autonomous vehicle to autonomously control operation of the second autonomous vehicle while the second autonomous vehicle is in the autonomous mode; and

a second command module configured to be deployed in the second autonomous vehicle, wherein the autonomous vehicle system is configured to;

deactivate the second command module deployed in the second autonomous vehicle when the operator is located at the first autonomous vehicle; and

activate the second command module deployed in the second autonomous vehicle and deactivate the first command module deployed in the first autonomous vehicle when the operator is located at the second autonomous vehicle to enable the operator to centrally control, monitor, or both control and monitor operation of the autonomous vehicle system from the second autonomous vehicle.

8. The autonomous vehicle system of claim 7, wherein:

an activated command module in the autonomous vehicle system is configured to;

determine a global plan that indicates a total target operation result of the autonomous vehicle system;

determine a first target operation result associated with the first autonomous vehicle and a second target operation result associated with the second autonomous vehicle based at least in part on the global plan;

the first autonomous module is configured to autonomously control operation of the first autonomous vehicle at least in part by;

determining first operational parameters to expected to achieve the first target operation result associated with the first autonomous vehicle; and

instructing the first autonomous vehicle to implement the first operational parameters; and

the second autonomous module is configured to autonomously control operation of the second autonomous vehicle at least in part by;

determining second operational parameters to expected to achieve the second target operation result associated with the second autonomous vehicle; and

instructing the second autonomous vehicle to implement the second operational parameters.

9. The autonomous vehicle system of claim 7, comprising:

a first pressure sensor configured to be disposed in a first operator seat of the first autonomous vehicle, wherein the autonomous vehicle system is configured to determine that the operator is located at the first autonomous vehicle when the first pressure sensor detects downward pressure on the first operator seat of the first autonomous vehicle; and

a second pressure sensor configured to be disposed in a second operator seat of the second autonomous vehicle, wherein the autonomous vehicle system is configured to determine that the operator is located at the second autonomous vehicle when the second pressure sensor detects downward pressure on the second operator seat of the second autonomous vehicle.

10. The autonomous vehicle system of claim 7, comprising:

a first push button configured to be disposed at the first autonomous vehicle, wherein the autonomous vehicle system is configured to determine that the operator is located at the first autonomous vehicle when selection of the first push button is detected; and

a second push button configured to be displayed at the second autonomous vehicle, wherein the autonomous vehicle system is configured to determine that the operator is located at the second autonomous vehicle when selection of the second push button is detected.

11. The autonomous vehicle system of claim 7, comprising:

a first one or more input devices configured to be disposed at the first autonomous vehicle, wherein the autonomous vehicle system is configured to activate the second command module deployed in the second autonomous vehicle and deactivate the first command module deployed in the first autonomous vehicle when the first one or more input devices receive a first user input indicating that the operator will be moving from the first autonomous vehicle to the second autonomous vehicle; and

a second one or more input devices configured to be disposed at the second autonomous vehicle, wherein the autonomous vehicle system is configured to activate the first command module deployed in the first autonomous vehicle and deactivate the second command module deployed in the second autonomous vehicle when the second one or more input devices receive a second user input indicating that the operator will be moving from the second autonomous vehicle to the first autonomous vehicle.

12. The autonomous vehicle system of claim 7, comprising:

a third autonomous module configured to be deployed in a third autonomous vehicle to autonomously control operation of the third autonomous vehicle while the third autonomous vehicle is in the autonomous mode; and

a third command module configured to be deployed in the third autonomous vehicle, wherein the autonomous vehicle system is configured to;

deactivate the third command module deployed in the third autonomous vehicle when the operator is located at the first autonomous vehicle or the second autonomous vehicle; and

activate the third command module deployed in the third autonomous vehicle, deactivate the first command module deployed in the first autonomous vehicle, and deactivate the second command module deployed in the second autonomous vehicle when the operator is located at the third autonomous vehicle to enable the operator to centrally control, monitor, or both control and monitor operation of the autonomous vehicle system from the third autonomous vehicle.

13. The autonomous vehicle system of claim 7, wherein:

the first autonomous vehicle comprises a first autonomous agricultural vehicle, a first autonomous delivery vehicle, a first autonomous consumer vehicle, a first autonomous public transportation vehicle, or a first autonomous military vehicle; and

the second autonomous vehicle comprises a second autonomous agricultural vehicle, a second autonomous delivery vehicle, a second autonomous consumer vehicle, a second autonomous public transportation vehicle, or a second autonomous military vehicle.

14. The autonomous vehicle system of claim 7, wherein:

an activated command module in the autonomous vehicle system is configured to receive first sensor data associated with operation of the first autonomous vehicle and second sensor data associated with operation of the second autonomous vehicle;

the first command module is configured to instruct a first electronic display in a first cabin of the first autonomous vehicle to display one or more visual representations of the second sensor data associated with operation of the second autonomous vehicle to enable the operator to monitor operation of the second autonomous vehicle from the first cabin of the first autonomous vehicle when the first command module is the activated command module; and

the second command module is configured to instruct a second electronic display in a second cabin of the second autonomous vehicle to display one or more visual representations of the first sensor data associated with operation of the first autonomous vehicle to enable the operator to monitor operation of the first autonomous vehicle from the second cabin of the second autonomous vehicle when the second command module is the activated command module.

15. The autonomous vehicle system of claim 7, wherein:

an activated command module in the autonomous vehicle system is configured to;

receive first sensor data associated with operation of the first autonomous vehicle and second sensor data associated with operation of the second autonomous vehicle;

detect whether a first disturbance condition that affects operation of the first autonomous vehicle is present based at least in part on the first sensor data associated with operation of the first autonomous vehicle; and

detect whether a second disturbance condition that affects operation of the second autonomous vehicle is present based at least in part on the second sensor data associated with operation of the second autonomous vehicle;

the first command module is configured to instruct the second autonomous vehicle to switch from the autonomous mode to a manual mode to enable the operator to manually control operation of the second autonomous vehicle using a first one or more input devices deployed at the first autonomous vehicle when the first command module is the activated command module and the first disturbance condition is detected; and

the second command module is configured to instruct the first autonomous vehicle to switch from the autonomous mode to the manual mode to enable the operator to manually control operation of the first autonomous vehicle using a second one or more input devices deployed at the second autonomous vehicle when the second command module is the activated command module and the second disturbance condition is detected.

16. A method of operating an autonomous vehicle system, comprising:

instructing, using processing circuitry, a first autonomous module deployed in a first autonomous vehicle of the autonomous vehicle system to autonomously control operation of the first autonomous vehicle while the first autonomous vehicle is in an autonomous mode;

determining, using the processing circuitry, location of an operator of the autonomous vehicle system;

instructing, using the processing circuitry, a first command module deployed in the first autonomous vehicle to deactivate in response to determining that the location of the operator is not at the first autonomous vehicle; and

instructing, using the processing circuitry, the first command module deployed in the first autonomous vehicle to activate in response to determining that the location of the operator is at the first autonomous vehicle to enable the operator to centrally control, monitor, or both control and monitor operation of the autonomous vehicle system from the first autonomous vehicle.

17. The method of claim 16, comprising:

instructing, using processing circuitry, a second autonomous module deployed in a second autonomous vehicle of the autonomous vehicle system to autonomously control operation of the second autonomous vehicle while the second autonomous vehicle is in the autonomous mode;

instructing, using the processing circuitry, a second command module deployed in the first autonomous vehicle to deactivate in response to determining that the location of the operator is at the first autonomous vehicle, wherein instructing the first command module deployed in the first autonomous vehicle to deactivate comprises instructing the first command module to deactivate in response to determining that the location of the operator is at the second autonomous vehicle; and

instructing, using the processing circuitry, the second command module deployed in the second autonomous vehicle to activate in response to determining that the location of the operator is at the second autonomous vehicle to enable the operator to centrally control, monitor, or both control and monitor operation of the autonomous vehicle system from the second autonomous vehicle.

18. The method of claim 16, comprising:

receiving, using an activated command module in the autonomous vehicle system, sensor data associated with operation of the first autonomous vehicle;

determining, using the activated command module, whether a disturbance condition affecting operation of the first autonomous vehicle is expected to be present based at least in part on the sensor data associated with operation of the first autonomous vehicle;

instructing, using the activated command module, the first autonomous vehicle to continue operating in the autonomous mode to enable the first autonomous module deployed in the first autonomous vehicle to autonomously control operation of the first autonomous vehicle based at least in part on the sensor data in response to determining that the disturbance condition is not expected to be present; and

instructing, using the activated command module, the first autonomous vehicle to switch from the autonomous mode to a manual mode to enable the operator to manually control operation of the first autonomous vehicle via one or more input devices deployed in the autonomous vehicle system in response to determining that the disturbance condition is expected to be present.

19. The method of claim 16, wherein determining the location of the operator of the autonomous vehicle system comprises:

receiving, using the processing circuitry, first sensor data from a first pressure sensor deployed in a first operator seat in the first autonomous vehicle;

determining, using the processing circuitry, whether the first sensor data is indicative of downward pressure being exerted on the first operator seat in the first autonomous vehicle; and

determining, using the processing circuitry, that the operator is located at the first autonomous vehicle in response to determining that the first sensor data is indicative of downward pressure being exerted on the first operator seat in the first autonomous vehicle.

20. The method of claim 19, wherein determining the location of the operator of the autonomous vehicle system comprises:

receiving, using the processing circuitry, second sensor data from a second pressure sensor deployed in a second operator seat in the second autonomous vehicle of the autonomous vehicle system;

determining, using the processing circuitry, whether the second sensor data is indicative of downward pressure being exerted on the second operator seat in the second autonomous vehicle; and

determining, using the processing circuitry, that the operator is not located at the first autonomous vehicle in response to determining that the second sensor data is indicative of downward pressure being exerted on the second operator seat in the second autonomous vehicle.