Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles
First Claim
1. A non-transitory processor-readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to:
- generate, 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;
receive, 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 first planned path associated with the second autonomous vehicle is received, generate, 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;
transmit the second planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle; and
receive, 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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Accused Products
Abstract
A non-transitory processor-readable medium storing code causes a processor at a first vehicle (e.g., a first autonomous vehicle) to generate a first planned path based on a current position of the first vehicle and a mission requirement assigned to the first vehicle. A first planned path associated with a second vehicle (e.g., a second autonomous vehicle), which is based on a current position of the second vehicle and a mission requirement assigned to the second vehicle, is received at the first vehicle. After the first planned path associated with the second vehicle is received, a second planned path is generated based on the first planned path associated with the second vehicle and at least one of the mission requirement assigned to the first vehicle or the first planned path of the first vehicle. The second planned path of the first vehicle is transmitted to the second vehicle.
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Citations
30 Claims
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1. A non-transitory processor-readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to:
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generate, 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; receive, 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 first planned path associated with the second autonomous vehicle is received, generate, 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; transmit the second planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle; and receive, 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)
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16. A non-transitory processor-readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to:
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generate, at a first autonomous vehicle, a planned path based, at least in part, on a mission requirement assigned to the first autonomous vehicle, the first autonomous vehicle having a first rank; receive, at the first autonomous vehicle, from a second autonomous vehicle, a first planned path associated with the second autonomous vehicle based, at least in part, on a mission requirement assigned to the second autonomous vehicle, the second autonomous vehicle having a second rank, lower than the first rank, the mission requirement assigned to the second autonomous vehicle different from the mission requirement assigned to the first autonomous vehicle; transmit the planned path of the first autonomous vehicle from the first autonomous vehicle to the second autonomous vehicle; and after the planned path of the first autonomous vehicle is transmitted, receive, at the first autonomous vehicle, from the second autonomous vehicle, a second planned path associated with the second autonomous vehicle, the second planned path associated with the second autonomous vehicle based, at least in part, on the planned path of the first autonomous vehicle, the mission requirement assigned to the second autonomous vehicle and the first rank. - View Dependent Claims (17, 18, 19, 20, 21, 22, 23, 24, 25)
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26. A non-transitory processor-readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to:
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generate, at a first autonomous vehicle, a first planned path based, at least in part, on a mission requirement assigned to the first autonomous vehicle, the first autonomous vehicle having an assigned first rank when the first planned path of the first autonomous vehicle is generated; receive, at the first autonomous vehicle, from a second autonomous vehicle having an assigned second rank, a planned path associated with the second autonomous vehicle based, at least in part, on a mission requirement assigned to the second autonomous vehicle and the second rank, the assigned second rank being higher than the assigned first rank; after the planned path associated with the second autonomous vehicle is received, generate, at the first autonomous vehicle, a second planned path based, at least in part, on the planned path associated with the second autonomous vehicle, the assigned first rank, and the mission requirement assigned to the first autonomous vehicle; and transmit the second planned path from the first autonomous vehicle to the second autonomous vehicle such that the first autonomous vehicle operates cooperatively with the second autonomous vehicle to perform the mission requirement assigned to the first autonomous vehicle. - View Dependent Claims (27, 28, 29, 30)
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Specification