Leader-follower semi-autonomous vehicle with operator on side
First Claim
1. A method for controlling movement of a vehicle, the method comprising:
- receiving user input from an operator, wherein the user input selects a path for the vehicle to form a selected path; and
responsive to receiving the user input, moving the vehicle along the selected path in a manner that maintains the operator on a side of the vehicle, wherein the selected path includes a set of waypoints, and wherein the moving step further comprises;
moving the vehicle along the selected path in a single dimension such that the vehicle follows the operator that is moving in a forward direction with respect to the vehicle, but the vehicle does not follow the operator that is moving in a sideways or backwards motion with respect to the vehicle;
responsive to reaching a waypoint in the set of waypoints, stopping the vehicle; and
resuming movement of the vehicle along the path in response to an event.
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Abstract
The illustrative embodiments provide a method and apparatus for controlling movement of a vehicle. User input selecting a path for the vehicle is received from an operator. The vehicle responds to the user input by moving along the selected path in a manner that maintains the operator on a side of the vehicle. The illustrative embodiments further provide a method and apparatus for improved machine control. The vehicle receives a power-up command, instructions to execute a planned path, and information identifying a leader. The leader is an operator. The vehicle then executes the planned path using the information identifying the leader in order to follow a path of the leader. The vehicle moves along the path in a manner that maintains the leader in a position proximate to a side of the vehicle.
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Citations
13 Claims
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1. A method for controlling movement of a vehicle, the method comprising:
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receiving user input from an operator, wherein the user input selects a path for the vehicle to form a selected path; and responsive to receiving the user input, moving the vehicle along the selected path in a manner that maintains the operator on a side of the vehicle, wherein the selected path includes a set of waypoints, and wherein the moving step further comprises; moving the vehicle along the selected path in a single dimension such that the vehicle follows the operator that is moving in a forward direction with respect to the vehicle, but the vehicle does not follow the operator that is moving in a sideways or backwards motion with respect to the vehicle; responsive to reaching a waypoint in the set of waypoints, stopping the vehicle; and resuming movement of the vehicle along the path in response to an event. - View Dependent Claims (2)
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3. A method for controlling movement of a vehicle, the method comprising:
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receiving user input from an operator, wherein the user input selects a path for the vehicle to form a selected path; responsive to receiving the user input, moving the vehicle along the selected path in a manner that maintains the operator on a side of the vehicle; and entering the path on a map prior to receiving the user input.
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4. A method for controlling movement of a vehicle, the method comprising:
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receiving user input from an operator, wherein the user input selects a path for the vehicle to form a selected path; and responsive to receiving the user input, moving the vehicle along the selected path in a manner that maintains the operator on a side of the vehicle, wherein the moving step further comprises; moving the vehicle along the selected path in a single dimension such that the vehicle follows the operator that is moving in a forward direction with respect to the vehicle, but the vehicle does not follow the operator that is moving in a sideways or backwards motion with respect to the vehicle; and responsive to detecting an obstacle in the selected path, stopping the vehicle. - View Dependent Claims (5)
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6. A method comprising:
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receiving user input from an operator, wherein the user input selects a path for a vehicle to form a selected path; and responsive to receiving the user input, moving the vehicle along the selected path in a manner that maintains the operator on a side of the vehicle, wherein the moving further comprises; responsive to detecting an obstacle in the selected path, executing a maneuver to avoid the obstacle.
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7. A method comprising:
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a vehicle receiving a power-up command to power-up the vehicle; the vehicle receiving instructions to execute a planned path; the vehicle receiving information identifying a leader, wherein the leader is an operator of the vehicle; the vehicle executing the planned path using the information identifying the leader in order to follow a path of the leader; the vehicle moving along the path in a manner that maintains the leader in a position proximate to a side of the vehicle; receiving information describing obstacles in a path of the vehicle; retrieving obstacle avoidance instructions from a behavior database that comprises instructions for different modes of operation that may be performed by the vehicle; executing the obstacle avoidance instructions; and resuming moving along the path in the manner that maintains the leader in the position proximate to the side of the vehicle.
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8. A method comprising:
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a vehicle receiving a power-up command to power-up the vehicle; the vehicle receiving instructions to execute a planned path; the vehicle receiving information identifying a leader, wherein the leader is an operator of the vehicle; the vehicle executing the planned path using the information identifying the leader in order to follow a path of the leader; the vehicle moving along the path in a manner that maintains the leader in a position proximate to a side of the vehicle; requesting positioning information from a high integrity perception system; receiving the positioning information from the high integrity perception system; and processing the positioning information in association with the planned path.
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9. A vehicle comprising:
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a steering system; a propulsion system; a braking system; and a machine controller connected to the steering system, the propulsion system, and the braking system;
wherein the machine controller receives user input from an operator with instructions for a planned path and sends commands to the steering system, the propulsion system, and the braking system to move the vehicle along the planned path in a manner that maintains the operator in a position proximate to a side of the vehicle, wherein the machine controller identifies a boundary to the planned path to form an identified boundary and maintains a fixed distance between the vehicle and the identified boundary, wherein the planned path is a ground surface appropriate for movement of the vehicle, and wherein the boundary is at least one of a curb and vegetation.
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10. A vehicle comprising:
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a steering system; a propulsion system; a braking system; and a machine controller connected to the steering system, the propulsion system, and the braking system;
wherein the machine controller receives user input from an operator with instructions for a planned path and sends commands to the steering system, the propulsion system, and the braking system to move the vehicle along the planned path in a manner that maintains the operator in a position proximate to a side of the vehicle, wherein the machine controller executes a maneuver to avoid an obstacle responsive to detecting the obstacle in the planned path. - View Dependent Claims (11)
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12. A vehicle comprising:
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a steering system; a propulsion system; a braking system; and a machine controller connected to the steering system, the propulsion system, and the braking system;
wherein the machine controller receives user input from an operator with instructions for a planned path and sends commands to the steering system, the propulsion system, and the braking system to move the vehicle along the planned path in a manner that maintains the operator in a position proximate to a side of the vehicle, wherein the machine controller distinguishes the operator from other objects.
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13. A method for controlling movement of a vehicle, the method comprising:
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receiving information for processing a selected path for the vehicle; and moving the vehicle along the selected path in a manner that maintains the operator on a side of the vehicle, wherein the operator is a human, and wherein the moving further comprises; moving the vehicle along the selected path in a single dimension such that the vehicle follows the operator that is moving in a forward direction with respect to the vehicle, but the vehicle does not follow the operator that is moving in a sideways or backwards motion with respect to the vehicle.
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Specification