System and method for managing access to a resource in an autonomous vehicle system

• US 5,586,030 A
• Filed: 10/24/1994
• Issued: 12/17/1996
• Est. Priority Date: 10/24/1994
• Status: Expired due to Term

• Current Assignee: Caterpillar Incorporated
• Original Assignee: Caterpillar Incorporated
• Inventors: Koehrsen, Craig L., Kemner, Carl A., Peterson, Joel L.
• Primary Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US08/328,329
• Time in Patent Office: 785 Days
• Field of Search: 364/424.02, 364/424.07, 340/989-994, 180/167-169, 318/587, 395/859
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G08G 1/096827 where the route is computed onboard
• CPC Class Codes: G08G 1/202 Dispatching vehicles on the basis of a location, e.g. taxi dispatching

Abstract

The invention is a system and method for managing a resource shared by a plurality of autonomous vehicles. Each vehicle includes a navigator for causing the vehicle to travel a specified route to the resource and for generating a queue position request upon approach to the resource. A queue or fleet manager establishes a queue to control access to the resource. The queue manager generates a queue position in response to receipt of the queue position request from an approaching vehicle. Under control of the queue manager, autonomous vehicles are passed through the queue and allowed to access the resource in a first-in, first-out manner.

Claims

1. A system for managing a resource shared by a plurality of autonomous vehicles, comprising:

navigator means, on each autonomous vehicle, for enabling each autonomous vehicle to travel a specified route to the resource and for generating a queue position request upon approach to the resource; and

queue manager means for establishing a queue to control access to the resource, and for generating a queue position in response to receipt of said queue position request from an approaching autonomous vehicle, whereby said plurality of autonomous vehicles pass through said queue and access said resource in a first-in, first-out manner.

2. The system of claim 1, wherein a first position of said queue is collocated with the resource.

3. The system of claim 2, further comprising:

communication means for communicating said queue position to said approaching autonomous vehicle.

4. The system of claim 3, wherein said navigator means comprises:

means for detecting a queue trigger in the specified route being traveled by said approaching autonomous vehicle when position determining means in said approaching autonomous vehicle indicates that said approaching autonomous vehicle has reached said queue trigger; and

means for generating said queue position request in response to said queue trigger.

5. The system of claim 1, further comprising:

ready means for generating a resource ready signal;

move means responsive to said resource ready signal for instructing an autonomous vehicle in a first position of said queue to depart said first position to access said resource.

6. The system of claim 5, further comprising:

first communication means for communicating said queue position to said approaching autonomous vehicle; and

second communication means for communicating said resource ready signal to an autonomous vehicle in a first position of said queue.

7. The system of claim 6, wherein said queue manager means further comprises:

means for updating positions of other autonomous vehicles in said queue in response to said autonomous vehicle in said first position of said queue departing said first position.

8. The system of claim 7, wherein said navigator means comprises:

means for detecting a queue trigger in the specified route being traveled by said approaching autonomous vehicle when position determining means in said approaching autonomous vehicle indicates that said approaching autonomous vehicle has reached said queue trigger; and

means for generating said queue position request in response to said queue trigger.

9. The system of claim 8, wherein said queue position communicated to said approaching autonomous vehicle from said queue manager means comprises a resource position and a number of autonomous vehicles in said queue, and wherein said navigator means further comprises means for calculating said queue position from said resource position, said number of autonomous vehicles in said queue and the specified route.

10. The system of claim 9, wherein said ready means comprises:

an operator-actuated switch at said resource.

11. The system of claim 10, further comprising:

means for generating a done signal upon completion of said access to said resource by said autonomous vehicle; and

means, on said autonomous vehicle, for instructing said autonomous vehicle at said resource to leave said resource in response to said done signal.

12. A method for managing a resource shared by a plurality of autonomous vehicles, each autonomous vehicle having navigator means for enabling the autonomous vehicle to travel a specified route to the resource, the method comprising:

(a) establishing a queue to control access to the resource;

(b) communicating a queue position request from an approaching autonomous vehicle to a queue manager upon approach of said approaching autonomous vehicle to the resource;

(c) communicating a queue position from said queue manager to said approaching autonomous vehicle in response to said queue position request, said queue position being assigned to said approaching autonomous vehicle based on a number of other autonomous vehicles in said queue;

(d) communicating a resource ready signal to a first autonomous vehicle in a first position of said queue; and

(e) allowing, in response to said resource ready signal, said first autonomous vehicle to leave said first position of said queue and to access said resource.

13. The method of claim 12, further comprising:

(f) communicating a depart position signal from said first autonomous vehicle to said queue manager upon departure of said first autonomous vehicle from said first position of said queue; and

(g) updating positions of other autonomous vehicles in said queue in response to said depart queue position signal.

14. The method of claim 12, wherein said step (b) of communicating a queue position request comprises:

detecting a queue trigger in the specified route being traveled by said approaching autonomous vehicle;

processing said queue trigger when positioning means in said approaching autonomous vehicle indicates that said approaching autonomous vehicle has reached said queue trigger; and

communicating said queue position request from said approaching autonomous vehicle to said queue manager.

15. The method of claim 12, wherein said step (c) of communicating a queue position comprises:

communicating a resource position and a number of autonomous vehicles in said queue to said approaching autonomous vehicle; and

calculating said queue position from said resource position, said number of autonomous vehicles in said queue and the specified route.

16. The method of claim 12, wherein said step (d) of communicating a resource ready signal comprises:

communicating said resource ready signal from said resource to said queue manager; and

communicating said resource ready signal from said queue manager to said first autonomous vehicle.

17. The method of claim 12, wherein said step (d) of communicating a resource ready signal comprises:

communicating said resource ready signal directly from said resource to said first autonomous vehicle.

18. The method of claim 12, wherein said step (e) of allowing comprises:

allowing said first autonomous vehicle to leave said first position of said queue;

stopping said first autonomous vehicle at said resource; and

allowing said resource to act on said vehicle.

19. The method of claim 18, further comprising the steps after step (e) of:

(h) communicating a done signal from said resource to said queue manager upon completion of said resource acting on said first autonomous vehicle; and

(i) communicating said done signal from said queue manager to said first autonomous vehicle.

20. The method of claim 18, further comprising the step after step (e) of:

(h) communicating a done signal from said resource to said first autonomous vehicle upon completion of said resource acting on said first autonomous vehicle.

21. The method of claim 13, wherein said step (g) of updating comprises, for each autonomous vehicle in said queue:

advancing a next autonomous vehicle in said queue by one queue position upon receipt of a depart queue position signal from an autonomous vehicle directly preceding said next autonomous vehicle in said queue.

22. A system for managing a resource shared by a plurality of autonomous vehicles, comprising:

navigator means, on each autonomous vehicle, for enabling each autonomous vehicle to travel a specified route to the resource and for generating a queue position request upon approach to the resource;

queue manager means the establishing a queue to control access to the resource, and for generating a queue position in response to receipt of said queue position request from an approaching autonomous vehicle;

first communication means for communicating said queue position to said approaching autonomous vehicle, wherein said navigator means instructs said approaching autonomous vehicle to take said queue position;

ready means for generating a resource ready signal;

second communication means for communicating said resource ready signal to an autonomous vehicle in a first position of said queue; and

move means responsive to said resource ready signal for instructing said autonomous vehicle in said first position of said queue to depart said first position to access said resource.

23. The system of claim 22, wherein said queue manager means further comprises:

means for updating positions of other autonomous vehicles in said queue in response to said autonomous vehicle in said first position of said queue departing said first position.

24. The system of claim 22, wherein said navigator means comprises:

means for detecting a queue trigger in the specified route being traveled by said approaching autonomous vehicle when position determining means in said approaching autonomous vehicle indicates that said approaching autonomous vehicle has reached said queue trigger; and

means for generating said queue position request in response to said queue trigger.

25. The system of claim 22, wherein said queue position communicated to said approaching autonomous vehicle from said queue manager means comprises a resource position and a number of autonomous vehicles in said queue, and wherein said navigator means further comprises means for calculating said queue position from said resource position, said number of autonomous vehicles in said queue and the specified route.

26. The system of claim 25, wherein said ready means comprises:

an operator-actuated switch at said resource.

27. The system of claim 26, wherein said second communication means comprises:

means for communicating said resource ready signal from said switch to said queue manager means; and

means for communicating said resource ready signal from said queue manager to said autonomous vehicle in said first position of said queue.

28. The system of claim 26, wherein said second communication means comprises:

means for communicating said resource ready signal directly from said switch to said autonomous vehicle in said first position of said queue.

29. The system of claim 22, further comprising:

means for generating a done signal upon completion of said access to said resource by said autonomous vehicle; and

means, on said autonomous vehicle, for instructing said autonomous vehicle at said resource to leave said resource in response to said done signal.

30. A system for loading a plurality of autonomous dump trucks at a loader site, comprising:

navigator means, on each autonomous dump truck, for enabling each autonomous dump truck to travel a specified route to the loader site and for generating a queue position request upon approach to the loader site;

queue manager means for establishing a queue to control access to the loader site, and for generating a queue position in response to receipt of said queue position request from an approaching autonomous dump truck, wherein said navigator means instructs said approaching autonomous dump truck to take said queue position; and

loader site control means for generating a loader ready signal when said loader site is ready to receive one of said plurality of autonomous dump trucks and a loader done signal when said loader site has finished with said one of said plurality of autonomous dump trucks, said loader ready signal instructing an autonomous dump truck in a first position of said queue to depart said first position to access said

loader site, said loader site done signal instructing an autonomous dump truck at said loader site to leave said loader site.

31. The system of claim 30, further comprising:

communication means for providing communications between said navigator means and said queue manager means and between said loader site control means and said navigator means.

32. The system of claim 31, wherein said communication means comprises:

first radio providing communications between said navigator means and said queue manager means; and

second radio providing communications between said queue manager means and said loader site control means.

33. The system of claim 30, wherein said queue position communicated to said approaching autonomous dump truck from said queue manager means comprises a loader site position and a number of autonomous dump trucks in said queue, and wherein said navigator means further comprises means for calculating said queue position from said loader site position, said number of autonomous dump trucks in said queue and the specified route.

34. The system of claim 30, wherein said loader site is a wheel loader and wherein said loader control means comprises:

a first operator-actuated switch to produce said loader ready signal;

a second operator-actuated switch to produce said loader done signal; and

a third operator-actuated switch to produce an emergency stop signal to stop one of said plurality of autonomous dump trucks.

35. The system of claim 34, wherein said loader site control means further comprises:

position determining means for determining a position of said wheel loader; and

a fourth operator actuated switch for setting said loader site position based on said position determined by said position determining means.

36. The system of claim 30, wherein said loader site control means further comprises:

position determining means for determining a position of said loader site; and

means for setting said loader site position based on said position determined by said position determining means.

37. A system for unloading a plurality of autonomous dump trucks at a dump site, comprising:

navigator means, on each autonomous dump truck, for enabling each autonomous dump truck to travel a specified route to the dump site and for generating a queue position request upon approach to the dump site; and

queue manager means for establishing a queue to control access to the dump site, and for generating a queue position in response to receipt of said queue position request from an approaching autonomous dump truck;

wherein said navigator means instructs said approaching autonomous dump truck to take said queue position, and

wherein said plurality of autonomous dump trucks are permitted to flow in and out of said queue and to access said dump site in a first-in, first-out manner.

38. The system of claim 37, further comprising:

dump site control means for selectively producing a blocking signal to prevent autonomous dump trucks in said queue from accessing said dump site.

39. The system of claim 38, further comprising:

communication means for providing communications between said navigator means and said queue manager means and between said dump site control means and said navigator means.

40. The system of claim 39, wherein said communication means comprises:

first radio providing communications between said navigator means and said queue manager means; and

second radio providing communications between said queue manager means and said dump site control means.