Systems and methods for switching between autonomous and manual operation of a vehicle

• US 7,894,951 B2
• Filed: 10/20/2006
• Issued: 02/22/2011
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: Deere & Company, iRobot Corporation
• Inventors: Gilbertson, Seth, Allard, James, Norby, Andrew Julian, Turner, Christopher David Glenn, Haun, Robert Dale, Filippov, Mikhail O., Norris, William Robert
• Primary Examiner(s): Tran; Khoi
• Assistant Examiner(s): PATTON, SPENCER D
• Application Number:
  US11/584,087
• Publication Number:
  US 20070198145A1
• Time in Patent Office: 1,586 Days
• Field of Search: 701/2, 701/23, 701/41, 701/42, 701/43, 701/70, 180/400, 180/404, 180/443, 180/444, 180/446
• US Class Current: 701/36
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• 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 1/024 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 1/0251 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 1/0259 using magnetic or electromagnetic means
• 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
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

Systems and methods for switching between autonomous and manual operation of a vehicle are described. A mechanical control system can receive manual inputs from a mechanical operation member to operate the vehicle in manual mode. An actuator can receive autonomous control signals generated by a controller. When the actuator is engaged, it operates the vehicle in an autonomous mode, and when disengaged, the vehicle is operated in manual mode. Operating the vehicle in an autonomous mode can include automatically controlling steering, braking, throttle, and transmission. A system may also allow the vehicle to be operated via remote command.

Claims

1. A robotically operable vehicle comprising:

a mechanical vehicle control system capable of receiving manual inputs and capable of causing the vehicle to operate in a manual mode in accordance with the manual inputs, the mechanical vehicle control system comprising;

a steering system capable of controlling a direction of movement of the vehicle;

a braking system capable of controlling braking of the vehicle;

a throttle system capable of controlling a speed of the vehicle;

a transmission system capable of selecting a gear for the vehicle;

at least one electrically actuated clutch capable of causing the mechanical vehicle control system to operate in an autonomous mode in response to a command for the vehicle to operate in the autonomous mode and capable of causing the mechanical vehicle system to operate in the manual mode in response to a command for the vehicle to operate in the manual mode; and

at least one actuator capable of, in accordance with autonomous control signals received from a controller and as allowed by the at least one electrically actuated clutch, operating the steering system, the braking system, the throttle system, and the transmission system; and

the controller capable of generating the autonomous control signals in response to the command for the vehicle to operate in the autonomous mode.

2. The robotically operable vehicle of claim 1, wherein the controller is configured to send a mode switch signal to disengage the at least one actuator from the mechanical vehicle control system so that the vehicle operates in the manual mode.

3. The robotically operable vehicle of claim 1, further comprising an E-Stop system operable to remove power from the at least one electrically actuated clutch.

4. The robotically operable vehicle of claim 3, wherein the E-Stop system is not operable to remove power from the controller or from the mechanical vehicle control system.

5. The robotically operable vehicle of claim 1, further comprising an E-Stop system operable to remove power from one of a plurality of electrically actuated clutches.

6. The robotically operable vehicle of claim 1, wherein the mechanical vehicle control system comprises a drive-by-wire system.

7. The robotically operable vehicle of claim 1, wherein the autonomous mode comprises a first autonomous mode and further comprising a mode changeover switch operable to switch between the first autonomous mode and a second autonomous mode.

8. The robotically operable vehicle of claim 1, further comprising a pull pin coupled to the mechanical vehicle control system, the pull pin configured to disengage the at least one actuator from the mechanical vehicle control system so that the vehicle operates in the manual mode.

9. The robotically operable vehicle of claim 1, wherein the at least one actuator comprises:

a steering actuator that is capable of controlling the direction of movement of the vehicle;

a braking actuator that is capable of controlling the braking of the vehicle in the autonomous mode and in accordance with autonomous control signals;

a throttle actuator that is capable of controlling the speed of the vehicle in the autonomous mode and in accordance with autonomous control signals; and

a transmission actuator that is capable of selecting the gear for the vehicle in the autonomous mode and in accordance with autonomous control signals.

10. The robotically operable vehicle of claim 9, wherein the at least one actuator clutch comprises:

a steering actuator clutch that is capable of causing the steering actuator to start and to stop controlling the direction of movement of the vehicle;

a braking actuator clutch that is capable of causing the braking actuator to start and to stop controlling the braking of the vehicle; and

a transmission actuator clutch that is capable of causing the transmission actuator to start and to stop selecting the gear for the vehicle.

11. The robotically operable vehicle of claim 10, wherein the at least one actuator clutch comprises a throttle actuator clutch that is capable of causing the throttle actuator to start and to stop controlling the speed of the vehicle.

12. The robotically operable vehicle of claim 1, wherein the at least one actuator is capable of preventing operation of the steering system, the braking system, the throttle system, and the transmission system in response to at least one manual input when the mechanical vehicle control system is operating in the autonomous mode.

13. The robotically operable vehicle of claim 1, wherein the transmission system is capable of selecting the gear for the vehicle by selecting one of a forward gear, a neutral gear, or a reverse gear.

14. A robotically operated vehicle, comprising:

at least one electrically actuated clutch that is normally disengaged, the at least one electrically actuated clutch being capable of causing a mechanical vehicle control system to operate in an autonomous mode by allowing the mechanical vehicle control system to receive control signals from an autonomous control system, the mechanical vehicle control system being capable of receiving manual inputs to operate the vehicle in a manual mode when the at least one electrically actuated clutch is disengaged;

the mechanical vehicle control system comprising;

a steering system capable of controlling a direction of movement of the vehicle;

a braking system capable of controlling braking of the vehicle;

a throttle system capable of controlling a speed of the vehicle;

a transmission system capable of selecting a gear for the vehicle; and

at least one actuator capable of, in accordance with the control signals and as allowed by the at least one electrically actuated clutch, operating the steering system, the braking system, the throttle system, and the transmission system;

the autonomous control system configured to operate the mechanical vehicle control system in an autonomous mode when the at least one electrically actuated clutch is engaged by generating the control signals for the steering system, the braking system, the throttle system, and the transmission system; and

an E-Stop system configured to remove power from the at least one electrically actuated clutch, while leaving power in the autonomous control system.

15. The robotically controlled vehicle of claim 14, wherein the mechanical vehicle control system comprises a parking control element set in a predetermined setting when the vehicle is parked, the predetermined setting configured to enable the autonomous mode and signify that manual movement is disabled.

16. The robotically controlled vehicle of claim 14, wherein the E-Stop system is actuated by latching switches that require a mechanical reset to restore power to the at least one actuated clutch.

17. The robotically controlled vehicle of claim 14, wherein the E-Stop system is actuated by a self-latching push-button that mechanically latches before the E-Stop system removes power to the at least one actuator.

18. The robotically controlled vehicle of claim 14, further comprising a safety stop to disengage the at least one electrically actuated clutch by a circuit other than a latching switch.

19. The robotically controlled vehicle of claim 18, wherein the mechanical operation member can actuate the safety stop.

20. The robotically controlled vehicle of claim 14, wherein the at least one electrically actuated clutch comprises:

a steering actuator clutch that is capable of causing the steering system to start and to stop controlling the direction of movement of the vehicle;

a braking actuator clutch that is capable of causing the braking system to start and to stop controlling the braking of the vehicle; and

a transmission actuator clutch that is capable of causing the transmission system to start and to stop selecting the gear for the vehicle.

21. The robotically controlled vehicle of claim 14, wherein the autonomous control system is capable of being controlled in a teleoperated mode according to remote commands.

22. The robotically controlled vehicle of claim 21, further comprising:

a mechanical linkage comprising at least a restoration member that is capable of permitting control of the mechanical vehicle control system in the teleoperated mode by a remote operation member via the remote commands when the restoration member is in an engaged state,

wherein the at least one actuator is capable of permitting control of the mechanical vehicle control system in the teleoperated mode when the at least one actuator is in a disengaged state.

23. The robotically controlled vehicle of claim 22, wherein the restoration member is at least one of (i) an electromagnetically actuated clutch or (ii) a mechanical device comprising at least one of pull-pin, a lever, a pedal, a push button, or a switch.

24. The robotically controlled vehicle of claim 22, wherein each of (i) the steering system, (ii) the braking system, (iii) the transmission system, and (iv) the throttle system, are backdrivable when the restoration member is engaged.

25. The robotically controlled vehicle of claim 14, wherein the autonomous control system comprises at least one non-moving sensor, the at least one non-moving sensor being capable of collecting and providing data regarding surroundings of the robotically controlled vehicle,

wherein the autonomous control system is capable of monitoring the at least one non-moving sensor after the E-Stop system removes power from the at least one electrically actuated clutch.

26. The robotically controlled vehicle of claim 25, wherein the at least one non-moving sensor comprises at least one of a camera or a scanning device.

27. A method for changing operation of a vehicle from manual mode to autonomous, the method comprising:

in response to manual inputs received at a mechanical vehicle control system, operating the vehicle in the manual mode in accordance with the manual inputs, the mechanical vehicle control system comprising a steering system, a braking system, a throttle system, and a transmission system, wherein operating the vehicle in the manual mode comprises;

allowing the steering system to control a direction of movement of the vehicle in accordance with the manual inputs;

allowing the braking system to control braking of the vehicle in accordance with the manual inputs;

allowing the throttle system to control a speed of the vehicle in accordance with the manual inputs; and

allowing the transmission system to select a gear for the vehicle in accordance with the manual inputs;

in response to a mode switch signal from a controller, preventing, by an electric clutch, operation of the mechanical vehicle control system in the manual mode; and

causing the mechanical vehicle control system to operate in the autonomous mode via at least one actuator, comprising;

receiving control signals from the controller;

allowing the steering system to control the direction of movement of the vehicle in accordance with the control signals;

allowing the braking system to control braking of the vehicle in accordance with the control signals;

allowing the throttle system to control a speed of the vehicle in accordance with the control signals; and

allowing the transmission system to select a gear for the vehicle in accordance with the control signals.

28. The method of claim 27, further comprising:

removing, by an E-Stop system, power from the electric clutch; and

retaining power to the at least one actuator.

29. The method of claim 27,

wherein allowing the steering system to control the direction of movement of the vehicle in accordance with the manual inputs comprises receiving a first manual input through a steering wheel,

wherein allowing the braking system to control braking of the vehicle in accordance with the manual inputs comprises receiving a second manual input through a brake pedal,

wherein allowing the throttle system to control the speed of the vehicle in accordance with the manual inputs comprises receiving a third manual input through a throttle,

wherein allowing the transmission system to select a gear for the vehicle in accordance with the manual inputs comprising receiving a fourth manual input through a gearshift level.