Automotive drone deployment system

• US 9,555,885 B2
• Filed: 08/08/2016
• Issued: 01/31/2017
• Est. Priority Date: 07/16/2014
• Status: Active Grant

• Current Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Original Assignee: Ford Global Technologies, LLC (Ford Motor Company)
• Inventors: Stanek, Joseph F., Lockwood, John A.
• Primary Examiner(s): Marc, McDieunel
• Assistant Examiner(s): Stroud, James E
• Application Number:
  US15/231,579
• Publication Number:
  US 20160347452A1
• Time in Patent Office: 176 Days
• Field of Search: 701/3
• US Class Current: 1/1
• CPC Class Codes: B60R 16/02 electric constitutive elements
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B64C 2230/00 Boundary layer controls
• CPC Class Codes: B64C 29/0008 having its flight directional axis horizontal when grounded
• CPC Class Codes: B64C 29/0091 Accessories not provided for elsewhere
• CPC Class Codes: B64C 29/02 having its flight directional axis vertical when grounded
• CPC Class Codes: B64C 39/02 characterised by special use
• CPC Class Codes: B64C 39/022 Tethered aircraft
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/00 Type of UAV
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/20 for use as communications relays, e.g. high-altitude platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2101/64 for parcel delivery or retrieval
• CPC Class Codes: B64U 2201/00 UAVs characterised by their flight controls
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 70/00 Launching, take-off or landing arrangements
• CPC Class Codes: B64U 70/30 for capturing UAVs in flight by ground or sea-based arresting gear, e.g. by a cable or a net
• CPC Class Codes: B64U 70/60 Take-off or landing of UAVs from a runway using their own power
• CPC Class Codes: B64U 70/80 Vertical take-off or landing, e.g. using rockets rotorcrafts B64U10/10; VTOL aircraft B64U10/20
• CPC Class Codes: B64U 70/83 : using parachutes, balloons or the like
• CPC Class Codes: B64U 80/00 : Transport or storage specially adapted for UAVs
• CPC Class Codes: B64U 80/86 : Land vehicles
• CPC Class Codes: G05D 1/0022 : characterised by the communication link data switching networks in general H04L12/00
• 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 1/0094 : involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G05D 1/0202 : specially adapted to aircraft
• CPC Class Codes: G05D 1/0212 : with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0231 : using optical position detecting means position-fixing by using electromagnetic waves other than radio waves, e.g. optical position detecting means G01S5/16
• CPC Class Codes: G05D 1/0242 : using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 : using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 : using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/0276 : using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 1/028 : using a RF signal
• CPC Class Codes: G08C 17/00 : Arrangements for transmitting signals characterised by the use of a wireless electrical link
• CPC Class Codes: G08G 1/012 : from other sources than vehicle or roadside beacons, e.g. mobile networks
• CPC Class Codes: G08G 1/091 : Traffic information broadcasting broadcasting communication H04H

Abstract

This disclosure generally relates to an automotive drone deployment system that includes at least a vehicle and a deployable drone that is configured to attach and detach from the vehicle. More specifically, the disclosure describes the vehicle and drone remaining in communication with each other to exchange information while the vehicle is being operated in an autonomous driving mode so that the vehicle'"'"'s performance under the autonomous driving mode is enhanced.

Claims

1. A drone deployment system comprising:

an aerial drone in operative communication with a vehicle and being configured to land on, and attach to, the vehicle, the drone comprising a plurality of sensors configured to sense external objects;

the vehicle comprising a plurality of sensors including one or more leading sensors configured to sense external objects leading the vehicle, a communications interface configured to send information to and receive information from the aerial drone, and processor(s) configured to;

determine a vehicle speed;

estimate a leading sensing range of the one or more leading sensors;

determine a desired leading sensing range of the one or more leading sensors based on the determined vehicle speed;

compare the estimated leading sensing range with the desired leading sensing range;

command the drone to detach from the vehicle and fly based on the comparison.

2. The system of claim 1, wherein the vehicle speed is a desired vehicle speed or an actual vehicle speed and wherein the processor(s) are configured to:

autonomously steer the vehicle based on inputs from the plurality of sensors;

autonomously accelerate the vehicle based on inputs from the plurality of sensors;

enforce a speed cap on the vehicle;

vary the enforced speed cap based on the estimated leading sensing range of the one or more leading sensors.

3. The system of claim 2, wherein the processor(s) are configured to:

command the drone to detach from the vehicle and fly to a location leading the vehicle;

receive information sent from the deployed drone, the information relating to one or more measurements performed by the sensors of the drone.

4. The system of claim 3, wherein the processor(s) are configured to:

evaluate the received information sent from the deployed drone;

increase the enforced speed cap based on the evaluated information.

5. The system of claim 4, wherein the processor(s) are configured to:

instruct the drone to perform one or more measurements of an area leading the vehicle and located outside of the estimated leading sensing range of the one or more leading sensors.

6. The system of claim 4, wherein the processor(s) are configured to:

instruct the drone to fly to a specified location, the specified location being based on the estimated leading sensing range of the one or more leading sensors.

7. The system of claim 4, wherein the processor(s) are configured to:

receive a user-specified destination for the vehicle;

determine a traveling path of the vehicle based on the user-specified destination;

instruct the drone to fly along a route;

determine the route based on the determined traveling path.

8. The system of claim 7, wherein the processor(s) are configured to:

instruct the drone to fly to the user-specified destination location.

9. The system of claim 1, wherein the processor(s) are configured to:

analyze the information reported by the one or more leading sensors to identify a malfunctioning leading sensor;

instruct the drone to deploy based on the detection of a malfunctioning leading sensor.

10. The system of claim 9, wherein the processor(s) are configured to:

determine a location based on the identified malfunctioning leading sensor;

instruct the drone to fly to the location.

11. A method of controlling an aerial drone and a vehicle;

wherein the drone is in operative communication with the vehicle and is configured to land on, and attach to, the vehicle, the drone comprising a plurality of sensors configured to sense external objects;

wherein the vehicle comprises a plurality of sensors including one or more leading sensors configured to sense external objects leading the vehicle, a communications interface configured to send information to and receive information from the aerial drone, and processor(s);

the method comprising, via the processor(s);

determining a vehicle speed;

estimating a leading sensing range of the one or more leading sensors;

determining a desired leading sensing range of the one or more leading sensors based on the determined vehicle speed;

comparing the estimated leading sensing range with the desired leading sensing range;

commanding the drone to detach from the vehicle and aerially deploy based on the comparison.

12. The method of claim 11, wherein the vehicle speed is a desired vehicle speed or an actual vehicle speed and the method comprises:

autonomously steering the vehicle based on inputs from the plurality of sensors;

autonomously accelerating the vehicle based on inputs from the plurality of sensors;

enforcing a velocity cap on the vehicle;

varying the enforced velocity cap based on the estimated leading sensing range of the one or more leading sensors.

13. The method of claim 12, comprising:

commanding the drone to detach from the vehicle and fly to a location leading the vehicle;

receiving information sent from the deployed drone at the vehicle, the information relating to one or more measurements performed by the sensors of the drone.

14. The method of claim 13, comprising:

evaluating the received information sent from the deployed drone;

increasing the enforced velocity cap based on the evaluated information.

15. The method of claim 14, comprising:

instructing the drone to perform one or more measurements of an area leading the vehicle and located outside of the estimated leading sensing range of the one or more leading sensors.

16. The method of claim 14, comprising:

instructing the drone to fly to a specified location, the specified location being based on the estimated leading sensing range of the one or more leading sensors.

17. The method of claim 14, comprising:

receiving a user-specified destination for the vehicle;

determining a traveling path of the vehicle based on the user-specified destination;

instructing the drone to fly along a route;

determining the route based on the determined traveling path.

18. The method of claim 17, comprising:

instructing the drone to fly to the user-specified destination location.

19. The method of claim 11, comprising:

analyzing the information reported by the one or more leading sensors to identify a malfunctioning leading sensor;

instructing the drone to deploy based on the detection of a malfunctioning leading sensor.

20. The method of claim 19, comprising:

determining a location based on the identified malfunctioning leading sensor;

instructing the drone to fly to the location.