Methods to operate autonomous vehicles to pilot vehicles in groups or convoys

• US 9,494,943 B2
• Filed: 06/02/2016
• Issued: 11/15/2016
• Est. Priority Date: 02/01/2015
• Status: Active Grant

• Current Assignee: LYFT Incorporated
• Original Assignee: Thomas Danaher Harvey
• Inventors: Harvey, Thomas Danaher
• Primary Examiner(s): MARC-COLEMAN, MARTHE Y
• Application Number:
  US15/171,119
• Publication Number:
  US 20160274590A1
• Time in Patent Office: 166 Days
• Field of Search: 701/23, 701/24, 701/2, 701/70, 340/466, 342/367, 370/392, 370/401
• US Class Current: 1/1
• CPC Class Codes: B60Q 1/5037 the display content changing automatically, e.g. depending on traffic situation
• CPC Class Codes: B60Q 1/507 specific to autonomous vehicles
• CPC Class Codes: B60Q 1/508 specific to vehicles driving in fleets or convoys
• CPC Class Codes: B60Q 1/547 for issuing requests to other traffic participants; for confirming to other traffic participants they can proceed, e.g. they can overtake
• CPC Class Codes: B60W 30/06 Automatic manoeuvring for parking
• CPC Class Codes: E04H 6/422 Automatically operated car-parks
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• 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 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: G08G 1/168 Driving aids for parking, e.g. acoustic or visual feedback on parking space
• CPC Class Codes: G08G 1/20 Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles

Abstract

A method of controlling autonomous or driverless vehicles in a specific control zone or in a convoy is disclosed. The vehicles enter the zone or form a convoy and come under the control of a zone authority or escort vehicle that coordinates the movements of the vehicles until they leave the zone or convoy. Escort vehicle communicate with central control facilities, each other or escorted vehicles. The behavior of the escorted or controlled vehicles is modified to insure that it matches a set of rules established by the zone authority. Possible zones include parking areas, indoor passages and areas with security concerns. The zone authority or escort vehicle may simultaneously control multiple autonomous vehicles and possible additional driver operated vehicles. Messages establishing control or providing continuing administration of rules or movements of escorted or controlled vehicles may be delivered by any type of communications link.

Claims

1. A method of coordinating vehicles comprising:

forming a convoy of vehicles with a first vehicle that is an escort vehicle and is autonomous and a second vehicle that is an escorted vehicle,

moving the convoy along a route,

modifying a location of at least one of the second vehicle and an environmental vehicle by locating the first vehicle in a position observable to a driver of the vehicle that is to have its location modified to expedite movement of the convoy along the route and, establishing a list of zone rules by a zone authority, wherein the list of zone rules established by the zone authority are in effect, the zone rules coordinate the simultaneous actions of multiples vehicles, the zone authority transmits a message to the second vehicle comprising information to cause the second vehicle to enter a mode of operation designed to follow the zone rules.

2. The method of claim 1 further comprising:

placing the first vehicle in a position to block a movement of the vehicle that is to have its location modified.

3. The method of claim 2 further comprising:

sensing conditions affecting travel with a third vehicle with a sensor,

transmitting a message based at least in part on the sensed conditions to the first vehicle, and

using information transmitted by the message to determine the position of the first vehicle.

4. The method of claim 2 further comprising:

coordinating movements between multiple escort vehicles of the convoy.

5. The method of claim 2 further comprising:

placing multiple vehicles of the convoy in positions to control movements of at least one other vehicle.

6. The method of claim 1 further comprising:

communicating by a visual display observable by the vehicle that is to have its location modified.

7. The method of claim 6 further comprising:

sensing conditions affecting travel with a third vehicle with a sensor,

transmitting a message based at least in part on the sensed conditions to the first vehicle, and

using information transmitted by the message to determine the position of the first vehicle.

8. The method of claim 6 further comprising:

coordinating movements between multiple escort vehicles of the convoy.

9. The method of claim 6 wherein:

a list of zone rules established by a zone authority are in effect, the zone rules coordinate the simultaneous actions of multiple vehicles, the zone authority transmits a message to the second vehicle comprising information to cause the second vehicle to enter a mode of operation designed to follow the zone rules.

10. The method of claim 6 further comprising:

placing multiple vehicles of the convoy in positions to control movements of at least one other vehicle.

11. A method of moving a first vehicle on a road comprising:

forming a convoy of vehicles with the first vehicle and a second vehicle, wherein the second vehicle is a control vehicle and is autonomous, positioning the second vehicle in a position observable by a driver of the first vehicle to communicate instructions for movement of the first vehicle to expedite the movement of the first vehicle along the road, and

establishing a list of zone rules by a zone authority, wherein the list of zone rules established by the zone authority are in effect, the zone rules coordinate the simultaneous actions of multiples vehicles, the zone authority transmits a message to the first vehicle comprising information to cause the first vehicle to enter a mode of operation designed to follow the zone rules.

12. The method of claim 11 wherein:

the communication of instructions is made by the relative location of the first vehicle and the second vehicle.

13. The method of claim 12 wherein:

the second vehicle receives information from a sensor to determine a location of the first vehicle.

14. The method of claim 11 wherein:

the communication of instructions is made by a visual display observable by a driver of the second vehicle.

15. The method of claim 14 wherein:

the second vehicle receives information from a sensor to determine a location of the first vehicle.