Control and systems for autonomously driven vehicles

• US 8,706,394 B2
• Filed: 04/01/2013
• Issued: 04/22/2014
• Est. Priority Date: 10/24/2008
• Status: Active Grant

• Current Assignee: Samsung Electronics Co. Ltd.
• Original Assignee: Gray & Company, Inc.
• Inventors: Trepagnier, Paul, Drakunov, Sergey, Kinney, Powell, Lee, Aaron, Nagel, Jorge, Dooner, Matthew, Traft, Neil, Dewenter, Michael
• Primary Examiner(s): Zanelli, Michael J
• Application Number:
  US13/854,630
• Publication Number:
  US 20130274986A1
• Time in Patent Office: 386 Days
• Field of Search: None
• US Class Current: 701/301
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• 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 1/0248 in combination with a laser lasers per se H01S
• 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 1/0274 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: G08G 1/16 Anti-collision systems road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08

Abstract

An autonomous controller for a vehicle. The controller has a processor configured to receive position signals from position sensors and to generate operation control signals defining an updated travel path for the vehicle. The controller has a programmable interface providing communication among the position sensors, the operation control mechanisms, and the processor. The controller is configured to normalize inputs to the processor from the position sensors and to generate compatible operation control signals applied as the inputs to the operation control mechanisms. The processor and the programmable interface define a self-contained unit configurable for operation with a variety of different remote sensors and different remote operation control mechanisms.

Claims

1. A control system for a vehicle, comprising:

an object sensor configured to generate object signals indicative of an object in a vicinity of the vehicle; and

a processor configured to receive said object signals and programmed to

identify from said object signals said object in the vicinity of the vehicle,

predict relative locations of the object in relation to the vehicle taking into consideration any movement of the object, a planned travel path, and speed of the vehicle,

based on the predicted locations, calculate an avoidance path to avoid collision with the object,

take control of the vehicle to follow the calculated avoidance path when the predicted relative locations of the object intersect the planned travel path of the vehicle,

if after taking control of the vehicle the object can not be avoided by subsequent changes in velocity of the vehicle, calculate a deviation of the vehicle from the avoidance path, and

direct said vehicle along said deviation.

2. The system of claim 1, wherein the processor is further configured to relinquish control of the vehicle on command from an operator.

3. The system of claim 1, wherein the processor is programmed to assess whether a driver of the vehicle is actively steering the vehicle.

4. The system of claim 1, wherein the processor is programmed to monitor a biometric sensor monitoring a driver of the vehicle, issue a warning when the biometric sensor indicates driver impairment, and take control of the vehicle.

5. The system of claim 1, wherein the processor is programmed to warn a driver of the vehicle before taking autonomous control of the vehicle.

6. The system of claim 1, wherein the processor comprises:

a variable structure observer configured to identify positions, velocities, and geometries of the objects in the vicinity of the vehicle, predict the positions and velocities of the objects in time, and estimate future positions of the object.

7. The system of claim 1, wherein the processor comprises:

a route planning algorithm configured to determine a route of the vehicle between two waypoints based on at least one of recorded traffic patterns between the two waypoints, recorded times to travel between the two waypoints, a history of congestion areas between the two waypoints, and real-time reports of congestion.

8. The system of claim 7, wherein the route planning algorithm is configured to determine the route based on respective weighted averages for a number of specific travel routes between the two waypoints, respective weighted averages including said at least one of the recorded times to travel between the two waypoints, the history of congestion areas between the two waypoints, and the real-time reports of congestion.

9. The system of claim 1, further comprising:

a position sensor configured to generate position signals indicative of a location and a heading of the vehicle;

an operation control mechanism which controls an operation of the vehicle, and

said processor configured to generate operation control signals for supply to the operation control mechanism for control of the vehicle along the planned path.

10. The system of claim 9, further comprising a programmable interface configured to provide communication among the position sensor, the object sensor, the operation control mechanism, and the processor.

11. The system of claim 9, wherein the object sensor comprises at least one of 1) a light detection and ranging device configured to produce a beam and detect a reflection of the beam from the objects, 2) a laser radar device configured to produce a beam and detect a reflection, at the wavelength of the beam, from the objects, and 3) a camera configured to provide an image of the objects in the vicinity of the vehicle.

12. The system of claim 9, wherein the position sensor comprises at least one of a global positioning system device or an inertial navigation system.

13. The system of claim 9, wherein

the processor is configured to provide at least one of direction and speed control instructions to the operation control mechanism in a drive by wire format, and

the processor electrically controls at least one of engine throttling, vehicle steering, and vehicle braking.

14. The system of claim 1, wherein the processor includes a map storage area configured to store logical maps of waypoints along a route of the vehicle, said logical map including at least one of directions from one waypoint to another, geospatial coordinates of the waypoints, intersections of roads along the route, and times associated with traveling between different waypoints.

15. The system of claim 14, further comprising a camera configured to provide an image along the route of the vehicle;

and said processor based on the image identifies a lane for a travel path of the vehicle.

16. The system of claim 15, wherein said processor is configured to determine if there is an obstruction in the identified lane.

17. The system of claim 1, wherein said processor is configured to determine a travel path for the vehicle by predicting a likelihood of collision of the vehicle with the object.

18. The system of claim 17, wherein said processor is configured to determine the likelihood of collision based on a virtual path analysis program predicting the movement of the object.

19. The system of claim 18, wherein said virtual path analysis program predicts an optimum trajectory including a speed and a direction of the vehicle for avoidance of the object.

20. The system of claim 17, wherein said processor is configured to generate a steering command based on 1) a moving point (x*(s), y*(s)) of the vehicle along the travel path of the vehicle, 2) a distance s(t) of the vehicle from the travel path, and 3) an error vector E(t) of an actual vehicle position (x(t), y(t)) from the moving point (x*(s(t)), y*(s(t))).

21. The system of claim 1, further comprising

a programmable device providing communication between said object sensor and said processor;

the programmable device configured to receive inputs from the object sensor, scale the inputs, and send the scaled inputs to the processor.

22. The system of claim 21, wherein the programmable device is programmable to set a proportion gain for said inputs.

23. The system of claim 22, wherein the programmable device comprises:

a program interface configured to accept user instructions for programming the programmable interface.

24. The system of claim 23, wherein the program interface comprises a graphical display for interfacing to a user.

25. The system of claim 24, wherein the graphical display is configured such that the user sets the programmable device to accommodate one or more different sensors and different operation control mechanisms.

26. The system of claim 24, wherein the graphical display includes user-selectable fields for selection of a proportion gain for the programmable device.

27. The system of claim 21, wherein the programmable device comprises a field programmable gate array device.

28. The system of claim 27, wherein the programmable device is programmable through the field programmable gate array device.

29. The system of claim 27, wherein the field programmable gate array device is configured for user selection of a proportion gain for the programmable device.

30. The system of claim 21, wherein the programmable device is configured to normalize said inputs to the processor.

31. A control system for a vehicle, comprising:

an object sensor configured to generate object signals indicative of an object in a vicinity of the vehicle; and

a processor configured to receive said object signals and programmed to

identify from said object signals said object in the vicinity of the vehicle,

predict relative locations of the object in relation to the vehicle taking into consideration any movement of the object, a planned travel path, and speed of the vehicle,

based on the predicted locations, calculate an avoidance path to avoid collision with the object,

take control of the vehicle to follow the calculated avoidance path when the predicted relative locations of the object intersect a planned path of the vehicle,

calculate changes in velocity of the vehicle to avoid the object, and

calculate a deviation of the vehicle from the avoidance path if the object can not be avoided by changing the velocity of the vehicle.

32. A control system for a vehicle, comprising:

an object sensor configured to generate object signals indicative of an object in a vicinity of the vehicle; and

a processor configured to receive said object signals and programmed to

identify from said object signals said object in the vicinity of the vehicle,

predict relative locations of the object in relation to the vehicle taking into consideration any movement of the object, a planned travel path, and speed of the vehicle,

based on the predicted locations, calculate an avoidance path to avoid collision with the object,

issue a warning and take control of the vehicle to follow the calculated avoidance path,

if after taking control of the vehicle the object can not be avoided upon following the avoidance path, calculate a deviation of the vehicle from the avoidance path, and

direct said vehicle along said deviation.