Remote control system and method for an autonomous vehicle

• US 5,448,479 A
• Filed: 09/01/1994
• Issued: 09/05/1995
• Est. Priority Date: 09/01/1994
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Kemner, Carl A., Peterson, Joel L.
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/299,448
• Time in Patent Office: 369 Days
• Field of Search: 364/424.01, 364/424.02, 364/424.07, 364/426.04, 364/424.1, 364/449, 318/587, 318/591, 180/167, 180/168, 180/169, 348/114, 348/118, 348/119, 348/120
• US Class Current: 701/23
• CPC Class Codes: B60W 2050/0064 using a remote, e.g. cordless, transmitter or receiver unit, e.g. remote keypad or mobile phone
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: B60W 50/082 Selecting or switching between different modes of propelling
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

A system and method for remotely controlling an autonomous vehicle uses a tele-panel to interrupt autonomous operation. Radio communications established between the tele-panel and the vehicle ceases autonomous operation of the vehicle and places the vehicle in a tele-ready mode in which the vehicle will not respond to commands from other tele-panels. Upon communication of a tele-operation request signal to the vehicle, the vehicle enters tele-operation mode. In this mode, the vehicle is responsive only to speed and steering angle requests from the transmitting tele-panel. A unique tele-panel identifier transmitted to the vehicle prevents other tele-panels from gaining control of the vehicle. If communications between the vehicle and the tele-panel identified by the tele-panel identifier are interrupted while the vehicle is in tele-operation mode, the vehicle is locked and will not respond to commands from other tele-panels and will not enter autonomous operation. If communications between the vehicle and the tele-panel identified by the tele-panel identifier are interrupted while the vehicle is in the tele-ready mode, autonomous operation or control by other tele-panels is not prevented.

Claims

1. A method for remotely controlling an autonomous vehicle, comprising:

establishing radio communications with the vehicle via a tele-panel, wherein a vehicle identifier and a tele-panel identifier are transmitted to the vehicle, and wherein establishing radio communications ceases autonomous operation of the vehicle and places the vehicle in a tele-ready mode in which the vehicle will not respond to commands from other tele-panels;

communicating a tele-operation request signal to the vehicle, said tele-operation request signal placing the vehicle in a tele-operation mode in which the vehicle is responsive to speed and steering angle requests from the tele-panel;

if communications between the vehicle and said tele-panel identified by said tele-panel identifier are interrupted while the vehicle is in said tele-operation mode, halting operation of the vehicle, preventing autonomous operation of the vehicle, and preventing control of the vehicle by any other tele-panel; and

if communications between the vehicle and said tele-panel identified by said tele-panel identifier are interrupted while the vehicle is in said tele-ready mode, allowing autonomous operation of the vehicle and allowing control of the vehicle by another tele-panel.

2. The method of claim 1, wherein said step of establishing radio communications comprises:

transmitting data packets from said tele-panel to said vehicle, each data packet including a vehicle identification byte, a tele-panel identification byte, a mode byte, a speed byte, and a steering byte.

3. The method of claim 2, wherein said step of transmitting data packets comprises:

transmitting data packets at least ten times per second using a frequency modulation scheme and a continuous carrier wave.

4. The method of claim 1, wherein said step of establishing radio communications comprises:

transmitting data packets from said tele-panel to said vehicle, each data packet including a start byte, a vehicle identification byte, a tele-panel identification byte, a mode byte, a speed byte, a steering byte, an auxiliary byte, a check byte and an end byte.

5. The method of claim 4, wherein said step of transmitting data packets comprises:

transmitting data packets at least ten times per second using a frequency modulation scheme and a continuous carrier wave.

6. The method of claim 1, further comprising a step before said step of establishing radio communications of:

selecting via said tele-panel a vehicle to be controlled from a plurality of such vehicles.

7. A system for remotely controlling an autonomous vehicle, comprising;

a tele-panel having

control means for allowing an operator to generate speed and steering angle commands,

mode select means for allowing an operator to select an operational mode of said vehicle,

processor means for receiving said speed and steering angle commands from said control means and said selected operational mode from said select means, for generating a vehicle identifier and a tele-panel identifier, and for formatting said vehicle identifier, said tele-panel identifier, said selected operational mode, and said speed and steering angle command into a data packet, and

transmitter means for establishing communications with the vehicle and for transmitting said data packet to the vehicle, and

vehicle control means, mounted on said vehicle, for receiving said communications from said tele-panel and for controlling operation of the vehicle in response thereto, said vehicle control means having

receiver means for receiving said communications from said transmitter means,

mode set means for placing the vehicle in a tele-ready mode in response to said data packet received from said tele-panel and for placing the vehicle in tele-operation mode when said selected operational mode of said data packet indicates tele-operation mode,

means for producing vehicle speed and steering angle control signals in response to speed and steering angle commands in said data packet, and

means for halting operation of the vehicle, preventing autonomous operation of the vehicle, and preventing control of the vehicle by another tele-panel if communications between the vehicle and said tele-panel identified by said tele-panel identifier are interrupted while the vehicle is in said tele-operation mode.

8. The system of claim 7, wherein said control means is a two-axis joy stick.

9. The system of claim 8, wherein said mode select means is a switch allowing selection of either autonomous mode or tele-operation mode.

10. The system of claim 9, wherein said processor means is a microcontroller.

11. The system of claim 10, wherein said transmitter means is a high speed data transceiver.

12. The system of claim 11, wherein said receiver means is a high speed data transceiver.

13. The system of claim 12, wherein said mode set means and said means for halting comprise a vehicle navigator.

14. The system of claim 13, wherein said means for producing vehicle speed and steering angle control signals comprises a machine control module.