System and method for behavior based control of an autonomous vehicle
First Claim
1. A method for behavior based control of an autonomous vehicle, the method comprising the steps of:
- identifying at least one input device in the autonomous vehicle;
providing at least one actuator associated with the at least one input device;
providing at least one arbiter associated with the at least one actuator;
defining a plurality of behaviors associated with the at least one actuator,defining at least one action set, each action set characterized at least in part by a priority and comprising a plurality of alternative actions ranked according to a corresponding plurality of preferences;
selecting, by the at least one arbiter, the action set having the highest corresponding priority;
selecting, by the at least one arbiter, from the selected action set, of the alternative action having the highest corresponding preference; and
operating the at least one input device in accordance with the selected alternative action;
wherein each of the behaviors implements at least one of (i) a providing the at least one action set, and (ii) a modifying at least a portion of the selected action set.
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Accused Products
Abstract
System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
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Citations
28 Claims
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1. A method for behavior based control of an autonomous vehicle, the method comprising the steps of:
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identifying at least one input device in the autonomous vehicle; providing at least one actuator associated with the at least one input device; providing at least one arbiter associated with the at least one actuator; defining a plurality of behaviors associated with the at least one actuator, defining at least one action set, each action set characterized at least in part by a priority and comprising a plurality of alternative actions ranked according to a corresponding plurality of preferences; selecting, by the at least one arbiter, the action set having the highest corresponding priority; selecting, by the at least one arbiter, from the selected action set, of the alternative action having the highest corresponding preference; and operating the at least one input device in accordance with the selected alternative action; wherein each of the behaviors implements at least one of (i) a providing the at least one action set, and (ii) a modifying at least a portion of the selected action set. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A system for behavior based control of an autonomous vehicle, the system comprising:
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at least one input device in the autonomous vehicle; at least one actuator associated with the at least one input device; a plurality of behaviors associated with the at least one actuator; at least one action set, each action set characterized at least in part by a priority and comprising a plurality of alternative actions ranked according to a corresponding plurality of preferences; at least one arbiter associated with the at least one actuator for selecting at least one of (i) the action set having the highest corresponding priority, and (ii) the alternative action from the selected action set, the alternative action having the highest corresponding preference; and a controller in communication with the input device and arbiter for operating the at least one input device in accordance with the selected alternative action; wherein each of the behaviors comprises at least one of (i) the at least one action set, and (ii) a modification to at least a portion of the selected action set. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A system for behavior based control of an autonomous vehicle, the system comprising:
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means for controlling the autonomous vehicle; means for actuating the autonomous vehicle control means; means for defining a plurality of behaviors associated with the actuating means, each behavior including at least one action set characterized at least in part by a priority, each action set including a plurality of alternative actions ranked according to a corresponding plurality of preferences; means for selecting the action set having the highest corresponding priority; means for selecting the alternative action having the highest preference; means for implementing at least one of (i) a providing the at least one action set, and (ii) a modifying at least a portion of the selected action set; and means for operating the autonomous vehicle control means in accordance with the selected alternative action. - View Dependent Claims (18, 19, 20, 21, 22, 23, 24)
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25. An article of manufacture comprising a program storage medium having computer readable program code embodied therein for hierarchical operation of an autonomous vehicle, the computer readable code in the article of manufacture including:
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computer readable code for causing a computer to access a plurality of behaviors associated with at least one actuator, each behavior including at least one action set characterized at least in part by a priority and each action set including a plurality of alternative actions ranked according to a corresponding plurality of preferences; computer readable code for causing a computer to select the action set having a highest corresponding priority; computer readable code for causing a computer to select the alternative action from the selected action set, the alternative action having a highest corresponding preference; and computer readable code for causing a computer to operate at least one input device in the autonomous vehicle in accordance with the selected alternative action, so as to achieve behavior based control of the autonomous vehicle. - View Dependent Claims (26)
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27. A program storage medium readable by a computer, tangibly embodying a program of instructions executable by the computer to perform method steps for hierarchical operation of an autonomous vehicle having at least one actuator associated with at least one input device in the autonomous vehicle, the method steps comprising:
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defining a plurality of behaviors associated with the at least one actuator, each behavior including at least one action set characterized at least in part by a priority and each action set including a plurality of alternative actions ranked according to corresponding plurality of preferences; selecting, by at least one arbiter associated with the at least one actuator, of the action set having the highest corresponding priority; selecting, by the at least one arbiter, of the alternative action from the selected action set having a highest corresponding preference; operating the at least one input device in accordance with the selected alternative action. - View Dependent Claims (28)
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Specification