Systems and methods for control of an unmanned ground vehicle

• US 7,499,776 B2
• Filed: 10/22/2004
• Issued: 03/03/2009
• Est. Priority Date: 10/22/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Allard, James, Svendsen, Selma, Filippov, Misha, Barrett, David S., Pack, Robert Todd
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US10/972,082
• Publication Number:
  US 20060089766A1
• Time in Patent Office: 1,593 Days
• Field of Search: 701/1, 701/23, 701/26, 701/93, 701/96, 701/50, 701/33, 701/29, 180/170, 180/174
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.

Claims

1. A method for control of a vehicle capable of manual control and autonomous control, the method comprising the steps of:

identifying at least one input device in the vehicle;

providing at least one actuator mechanically associated with the at least one input device; and

controlling the vehicle based at least in part on an interruptible autonomous scheme, said interruptible autonomous scheme comprising;

providing at least one control policy corresponding to the at least one input device;

detecting at least one mechanical disassociation between the at least one input device and the at least one actuator;

interrupting autonomous control of the vehicle based at least in part on the at least one mechanical disassociation;

detecting at least one restored mechanical association between the at least one input device and the at least one actuator; and

establishing a revised vehicle control based at least in part on the at least one restored mechanical association and the at least one control policy.

2. The method of claim 1 wherein the mechanical disassociation comprises a separation between the at least one input device and the at least one actuator.

3. The method of claim 1 wherein the step of detecting the at least one mechanical disassociation comprises measuring a response of at least one of a proximity sensor and a strain gauge.

4. The method of claim 1 wherein the step of interrupting autonomous control comprises allowing manual vehicle control.

5. The method of claim 1 wherein the step of detecting at least one restored mechanical association comprises measuring a response of at least one of a proximity sensor and a strain gauge.

6. The method of claim 1 wherein the step of establishing a revised vehicle control comprises restoring autonomous vehicle control.

7. The method of claim 6 wherein restoring autonomous vehicle control occurs after at least one predetermined delay.

8. The method of claim 1 wherein the step of establishing a revised vehicle control comprises preventing further autonomous vehicle control.

9. The method of claim 1 wherein the step of establishing a revised vehicle control comprises preventing further autonomous vehicle control in the absence of at least one operator intervention.

10. The method of claim 1 wherein the input device comprises a drive control.

11. The method of claim 10 wherein the drive control comprises at least one of a throttle, a brake, a transmission shifter, and an accelerator.

12. The method of claim 1 wherein the input device comprises an articulation control.

13. The method of claim 1 wherein the interruptible autonomous scheme further comprises:

initiating a shutdown sequence, based at least in part on the mechanical disassociation between the at least one input device and the at least one actuator, to shutdown the vehicle.

14. A system for control of a vehicle capable of manual control and autonomous control, the system comprising:

means for controlling the vehicle;

means for mechanically actuating the vehicle control means;

means for detecting at least one mechanical disassociation between the vehicle control means and the actuating means;

means for interrupting autonomous control of the vehicle in response to the at least one mechanical disassociation;

means for detecting at least one restored mechanical association between the vehicle control means and the actuating means; and

means for executing a revised vehicle control program in response to the at least one restored mechanical association.

15. The system of claim 14 wherein the actuating means comprises at least one mechanical transmission.

16. The system of claim 14 wherein the mechanical disassociation comprises a separation between the vehicle control means and the actuating means.

17. The system of claim 14 wherein the means for detecting at least one mechanical disassociation comprises at least one of a proximity sensor and a strain gauge.

18. The system of claim 14 wherein the revised vehicle control program comprises autonomous vehicle control.

19. The system of claim 14 wherein the revised vehicle control program comprises at least one predetermined time delay.

20. The system of claim 14 wherein the revised vehicle control program comprises an inhibitor for preventing autonomous vehicle control.

21. The system of claim 14 wherein the revised vehicle control program comprises an inhibitor for preventing autonomous vehicle control in the absence of at least one operator intervention.

22. The system of claim 14 wherein the vehicle control means comprises a drive control.

23. The system of claim 22 wherein the drive control comprises at least one of a throttle, a brake, a transmission shifter, and an accelerator.

24. The system of claim 14 wherein the vehicle control means comprises an articulation control.

25. The system of claim 14 further comprising:

means for initiating a vehicle shutdown sequence, based at least in part on the mechanical disassociation between the vehicle control means and the actuating means, to shutdown the vehicle.

26. A vehicle, comprising:

a drive control that receives manual inputs from operator input devices to operate the vehicle in a manual mode;

a controller capable of executing a vehicle control program allowing autonomous control of the vehicle without operator intervention;

actuators mated to the drive control, each actuator mated to the drive control by a mechanical linkage that disassociates and reassociates the actuator and drive control, and each actuator manipulating the drive control according to communication with the vehicle control program; and

a detector for detecting, following manual inputs of operator input devices that result in mechanical disassociation of the actuators from the drive control and in interruption of autonomous control of the vehicle, responses of one or more sensors that indicate the mechanical reassociation of the actuators and the drive control.

27. The vehicle of claim 26, wherein the controller is configured to execute the vehicle control program based at least in part on a control policy.

28. The vehicle of claim 27, wherein the controller is further configured to execute, following a mechanical reassociation of an actuator and the drive control, the vehicle control program based at least in part on a revised control policy.

29. The vehicle of claim 28, wherein the revised control policy provides for autonomous control of the vehicle.

30. The vehicle of claim 28, wherein the revised control policy provides for autonomous control of the vehicle after at least one predetermined time delay.

31. The vehicle of claim 28, wherein the revised control policy prevents further autonomous vehicle control.

32. The vehicle of claim 28, wherein the revised control policy prevents further autonomous vehicle control in the absence of at least one operator intervention

33. The vehicle of claim 26, wherein the detector is further configured to discern a mechanical disassociation of an actuator from the drive control.

34. The vehicle of claim 26, wherein the detector comprises at least one of a proximity sensor and a strain gauge.

35. The vehicle of claim 26, wherein the controller is configured to initiate a vehicle shutdown sequence.

36. The vehicle of claim 26 further comprising an articulation control for operating equipment attached to the vehicle.

37. The vehicle of claim 36, wherein the equipment comprises a tilling apparatus.

38. The vehicle of claim 36, wherein the equipment comprises a blade.

39. The vehicle of claim 26, wherein the drive control comprises at least one of a throttle, a brake, an accelerator, and a transmission shifter.

40. The vehicle of claim 26, wherein the mechanical linkage comprises a lever and pivot joint.

41. The vehicle of claim 26, wherein the mechanical linkage comprises a rack and pinion device.

42. The vehicle of claim 26, wherein the vehicle comprises a tractor.

43. The vehicle of claim 26, wherein the vehicle is a passenger vehicle.