Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles
First Claim
Patent Images
1. A method, comprising:
- generating, at a first autonomous vehicle, a first planned path from at least a current position of the first autonomous vehicle to a destination, the first planned path being based, at least in part, on the current position of the first autonomous vehicle and a mission requirement assigned to the first autonomous vehicle to be performed at the destination;
receiving, at the first autonomous vehicle, from a second autonomous vehicle, a first planned path associated with the second autonomous vehicle, the first planned path associated with the second autonomous vehicle being from at least a current position of the second autonomous vehicle to the destination and being based, at least in part, on the current position of the second autonomous vehicle and a mission requirement assigned to the second autonomous vehicle to be performed at the destination;
after the receiving, generating, at the first autonomous vehicle, a second planned path to the destination based, at least in part, on the first planned path associated with the second autonomous vehicle and the mission requirement assigned to the first autonomous vehicle;
transmitting the second planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle; and
receiving, at the first autonomous vehicle, from the second autonomous vehicle, a second planned path associated with the second autonomous vehicle to the destination such that the first autonomous vehicle performs the mission requirement assigned to the first autonomous vehicle at the destination while the second autonomous vehicle performs the mission requirement assigned to the second autonomous vehicle at the destination, the second planned path associated with the second autonomous vehicle differing from the first planned path associated with the second autonomous vehicle.
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Abstract
A method for coordinating the paths of multiple autonomous vehicles and a vehicle configured to coordinate its path with the path(s) of other vehicles so as to enhance cooperation between the vehicles. The method also enables the vehicles to perform their respective missions more efficiently. The method is applicable to any system in which multiple autonomous vehicles may need to coordinate their paths with each other.
87 Citations
18 Claims
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1. A method, comprising:
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generating, at a first autonomous vehicle, a first planned path from at least a current position of the first autonomous vehicle to a destination, the first planned path being based, at least in part, on the current position of the first autonomous vehicle and a mission requirement assigned to the first autonomous vehicle to be performed at the destination; receiving, at the first autonomous vehicle, from a second autonomous vehicle, a first planned path associated with the second autonomous vehicle, the first planned path associated with the second autonomous vehicle being from at least a current position of the second autonomous vehicle to the destination and being based, at least in part, on the current position of the second autonomous vehicle and a mission requirement assigned to the second autonomous vehicle to be performed at the destination; after the receiving, generating, at the first autonomous vehicle, a second planned path to the destination based, at least in part, on the first planned path associated with the second autonomous vehicle and the mission requirement assigned to the first autonomous vehicle; transmitting the second planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle; and receiving, at the first autonomous vehicle, from the second autonomous vehicle, a second planned path associated with the second autonomous vehicle to the destination such that the first autonomous vehicle performs the mission requirement assigned to the first autonomous vehicle at the destination while the second autonomous vehicle performs the mission requirement assigned to the second autonomous vehicle at the destination, the second planned path associated with the second autonomous vehicle differing from the first planned path associated with the second autonomous vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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Specification