Control of the autonomous mode of bimodal vehicles

• US 9,317,033 B2
• Filed: 12/06/2012
• Issued: 04/19/2016
• Est. Priority Date: 12/16/2011
• Status: Active Grant

• Current Assignee: Ampere SAS
• Original Assignee: Renault Sas (Renault)
• Inventors: Ibanez-Guzman, Javier, Minoiu-Enache, Nicoleta, Chale Gongora, Hugo Guillermo, Lesaing, Jean, Chauveau, Francois
• Primary Examiner(s): Butler, Rodney
• Assistant Examiner(s): MAZZARA, ANNE MARIE
• Application Number:
  US14/365,941
• Publication Number:
  US 20140358353A1
• Time in Patent Office: 1,230 Days
• Field of Search: 701/23
• US Class Current: 1/1
• CPC Class Codes: B60W 60/0025 specially adapted for specific operations
• CPC Class Codes: G05D 1/0027 involving a plurality of vehicles, e.g. fleet or convoy travelling fleet control of land vehicles from a control room G05D1/0297; traffic control systems for road vehicles G08G1/00; for marine craft G08G3/00; for aircraft G08G5/00
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G05D 2201/0213 Road vehicle, e.g. car or truck
• CPC Class Codes: H04L 67/125 involving control of end-device applications over a network

Abstract

A control of autonomous vehicles, and a method for controlling at least one autonomous ground vehicle configured to adopt two operating modes, including a manual mode in which the driving depends on driving instructions from the driver of the vehicle, and an autonomous mode, in which the driving depends on data received from sensors configured to provide information on surroundings of the vehicle, and on data received by a navigation system, the method including: authorizing the autonomous mode only when the vehicle is within an area determined by defined boundaries; receiving reservation data from a user interface; generating a set message to be transmitted to the vehicle in accordance with the received reservation data; and transmitting the set message to the vehicle such that the vehicle autonomously performs a movement corresponding to the transmitted set message.

Claims

1. A method of control of a terrestrial vehicle configured to adopt two modes of operation, the modes including:

a manual mode, in which driving is dependent on vehicle driver commands, and an autonomous mode, in which driving is dependent on data received from sensors configured to provide information about an environment of the terrestrial vehicle and on data received from a navigation system, the method comprising;

authorizing the autonomous mode only when the terrestrial vehicle is situated within a site determined by defined boundaries;

receiving booking data from a user interface;

formulating a directive message to be transmitted to the terrestrial vehicle as a function of the received booking data; and

transmitting the directive message to the terrestrial vehicle so that the terrestrial vehicle autonomously moves in correspondence with the transmitted directive message,

wherein the transmitted directive message includes information relating to a user for the terrestrial vehicle.

2. The method as claimed in claim 1, wherein information comprising a battery state of charge of the terrestrial vehicle makes it possible to cause the terrestrial vehicle to go to a recharging facility autonomously.

3. The method as claimed in claim 1, wherein the transmitted directive message includes a destination address and/or a movement data.

4. The method as claimed in claim 1, wherein the transmitted directive message includes information relating to a profile of a circuit to be traveled by the terrestrial vehicle in the autonomous mode.

5. The method as claimed in claim 1, further comprising, for the terrestrial vehicle when in the autonomous mode:

detecting a possible malfunction of the terrestrial vehicle; and

emitting an alarm signal in case of detection of malfunction.

6. The method as claimed in claim 1, further comprising:

receiving at least one item of state information regarding the terrestrial vehicle; and

formulating the directive message to be transmitted to the terrestrial vehicle as a function of the received at least one item of state information.

7. The method as claimed in claim 6, further comprising:

storing in memory vehicle state information logged subsequent to the receiving the at least one item of state information regarding the terrestrial vehicle.

8. The method as claimed in claim 1, wherein said transmitting the directive message is performed for each of a plurality of terrestrial vehicles of an assembly of terrestrial vehicles, including said autonomous terrestrial vehicle, configured to adopt the manual and autonomous modes of operation, the method further comprising:

estimating a desired spatial distribution of the assembly of terrestrial vehicles, the directive message to be transmitted to the terrestrial vehicle being formulated as a function of the estimated distribution.

9. A non-transitory computer readable medium storing a computer program product comprising instructions, that when executed by a processor, cause performance of a method of control of a terrestrial vehicle configured to adopt two modes of operation, the modes including a manual mode, in which driving is dependent on vehicle driver commands, and an autonomous mode, in which driving is dependent on data received from sensors configured to provide information about an environment of the terrestrial vehicle and on data received from a navigation system, the method comprising:

authorizing the autonomous mode only when the terrestrial vehicle is situated within a site determined by defined boundaries;

receiving booking data from a user interface;

formulating a directive message to be transmitted to the terrestrial vehicle as a function of the received booking data; and

transmitting the directive message to the terrestrial vehicle so that the terrestrial vehicle autonomously moves in correspondence with to the transmitted directive message,

wherein the transmitted directive message includes information relating to a user for the terrestrial vehicle.

10. A device for control of a terrestrial vehicle configured to adopt two modes of operation, the modes including:

a manual mode, in which driving is dependent on vehicle driver commands, and an autonomous mode, in which driving is dependent on data received from sensors configured to provide information about an environment of the terrestrial vehicle and on data received from a navigation system, the device comprising;

memory; and

a processor configured to;

authorize the autonomous mode only when the terrestrial vehicle is situated within a site determined by defined boundaries,

formulate a directive message to be transmitted to the terrestrial vehicle as a function of booking data,

communicate with a user interface that receives the booking data, and

transmit the directive message to the terrestrial vehicle so that the terrestrial vehicle autonomously moves in correspondence with the transmitted directive message,

wherein the transmitted directive message includes information relating to a user for the terrestrial vehicle.

11. The control device as claimed in claim 10, wherein the transmitted message includes a destination address, information relating to a profile of a circuit to be traveled by the terrestrial vehicle in the autonomous mode and/or movement data.

12. The control device as claimed in claim 10, wherein the processor is configured to:

transmit directive messages to at least one terrestrial vehicle of an assembly of terrestrial vehicles, including said autonomous vehicle, so that said autonomous terrestrial vehicle autonomously moves in correspondence with the transmitted directive message,

assist the terrestrial vehicles in their movements when the terrestrial vehicles are in the autonomous mode, and

optimize a spatial distribution of the terrestrial vehicles within the site.

13. The control device as claimed in claim 12, wherein the processor allows an observer to move the terrestrial vehicle remotely.

14. The control device as claimed in claim 12, wherein the processor is equipped to signal remotely a presence of an emergency service vehicle in proximity to the terrestrial vehicle.

15. The control device as claimed in claim 12, wherein the processor is equipped to signal remotely a presence of an obstacle obstructing a path to be traveled by the terrestrial vehicle in the autonomous mode.

16. The control device as claimed in claim 12, wherein the control device is configured to manage one or more other vehicles of the assembly of terrestrial vehicles in addition to the terrestrial vehicle, and/or equipment of the site in communication with the control device, comprising sensors installed at the site constituting an ecosystem.