Systems and methods for controlling positions and orientations of autonomous vehicles

• US 9,678,508 B2
• Filed: 11/16/2009
• Issued: 06/13/2017
• Est. Priority Date: 11/16/2009
• Status: Active Grant

• Current Assignee: Flanders Electric Motor Service, Inc.
• Original Assignee: Flanders Electric Motor Service, Inc.
• Inventors: Cima, Jarrid
• Primary Examiner(s): CASS, JEAN PAUL
• Application Number:
  US12/619,367
• Publication Number:
  US 20110118927A1
• Time in Patent Office: 2,766 Days
• Field of Search: None
• 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 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13

Abstract

A method for controlling an autonomous vehicle. Data relating to a plurality of proposed vehicle locations is received and a simulated vehicle path based on the received data is generated. A simulated vehicle orientation for at least one point on the simulated vehicle path is determined and presented in a user-discernable form. User verification of the simulated vehicle orientation for at least one point on the simulated vehicle path is received. Approved vehicle control commands from the simulated vehicle path and simulated vehicle orientation are produced such that the approved vehicle control commands control the autonomous vehicle to follow the simulated vehicle path and the simulated vehicle orientation.

Claims

1. A method for controlling an autonomous vehicle, comprising:

receiving data relating to a plurality of proposed vehicle locations;

generating a simulated vehicle path based on the received data, the simulated vehicle path comprising a simulated path segment between a first proposed vehicle location and a second proposed vehicle location;

determining a simulated vehicle orientation for the autonomous vehicle for at least one point on the simulated vehicle path;

displaying a visual representation of at least the simulated vehicle orientation in a user-discernable form;

receiving a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle path resulting in a user-verified simulated vehicle orientation and a user-verified simulated path; and

producing approved vehicle control commands from the user-verified simulated vehicle path and the user-verified simulated vehicle orientation, the approved vehicle control commands controlling the autonomous vehicle to follow the user-verified simulated vehicle path and achieve the user-verified simulated vehicle orientation.

2. The method of claim 1, further comprising determining a simulated vehicle orientation for at least the first and second vehicle location points on the simulated vehicle path.

3. The method of claim 1, wherein displaying a visual representation of at least the simulated vehicle orientation in user-discernable form comprises:

displaying at least a portion of the plurality of proposed vehicle locations; and

displaying a vehicle icon in the simulated vehicle orientation with respect to the displayed proposed vehicle locations.

4. The method of claim 3, further comprising animating said displaying by sequentially displaying the simulated vehicle orientation at various ones of the plurality of proposed vehicle locations.

5. The method of claim 4, further comprising displaying the simulated vehicle path.

6. The method of claim 5, further comprising animating said displaying by sequentially displaying the simulated vehicle orientation at sequential points along the simulated vehicle path.

7. The method of claim 1, wherein receiving data relating to a plurality of proposed vehicle locations comprises receiving data for a proposed hole location and a waypoint.

8. The method of claim 1, wherein data relating to a plurality of proposed vehicle locations further comprises sequence data relating to a sequence for moving between the plurality of proposed vehicle locations.

9. The method of claim 1, further comprising receiving a user modification of the data relating to a plurality of proposed vehicle locations before said producing approved vehicle commands.

10. The method of claim 9, wherein receiving a user modification of data relating to a plurality of proposed vehicle locations comprises receiving one or more additional waypoints.

11. The method of claim 1, further comprising:

comparing the simulated vehicle path with a maximum heading change for the autonomous vehicle; and

notifying the user if the simulated vehicle path violates the maximum heading change.

12. The method of claim 11, further comprising disallowing a proposed vehicle location that would result in a violation of the maximum heading change.

13. The method of claim 1, further comprising using the approved vehicle control commands to produce a vehicle control data file, the vehicle control data file being used by the autonomous vehicle to control the path and vehicle orientation of the autonomous vehicle.

14. A method for producing vehicle control commands for an autonomous vehicle, comprising:

receiving data relating to a plurality of proposed vehicle locations;

generating a simulated vehicle path based on the received data relating to the proposed vehicle locations;

determining a simulated vehicle orientation in relation to an axis of the autonomous vehicle at a plurality of points along the simulated vehicle path;

presenting the simulated vehicle orientation in a user-discernable form;

receiving a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle path; and

producing vehicle control commands for the autonomous vehicle from the user-verified simulated vehicle path and simulated vehicle orientation.

15. The method of claim 14, further comprising applying the produced vehicle control commands to the autonomous vehicle to cause the autonomous vehicle to follow the user-verified simulated vehicle path and achieve the simulated vehicle orientation.

16. The method of claim 14, wherein presenting the simulated vehicle orientation in user-discernable form comprises:

displaying at least a portion of the plurality of proposed vehicle locations; and

displaying a vehicle icon in the simulated vehicle orientation with respect to the displayed proposed vehicle locations.

17. The method of claim 16, further comprising animating said displaying by sequentially displaying the simulated vehicle orientation at various ones of the plurality of proposed vehicle locations.

18. The method of claim 16, further comprising displaying the simulated vehicle path.

19. The method of claim 18, further comprising animating said displaying by sequentially displaying the simulated vehicle orientation at sequential points along the simulated vehicle path.

20. A system for producing vehicle control commands for an autonomous vehicle, comprising:

an input device;

a display device; and

a computer system operatively associated with said input device and said display device, said computer system receiving and storing data from said input device, displaying data on said display device, storing program steps for program control, and processing data;

said computer system, through said input device, receiving data relating to a plurality of proposed vehicle locations, said computer system processing the received data relating to the proposed vehicle locations to generate a simulated vehicle path and to determine a simulated vehicle orientation in relation to an axis of the autonomous vehicle for at least one point on the simulated vehicle path, said computer system presenting at least the simulated vehicle orientation on said display device;

said computer system, through the input device, receiving a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle path; and

said computer system producing vehicle control commands for the autonomous vehicle from the simulated vehicle path and simulated vehicle orientation, said vehicle control commands controlling the autonomous vehicle to follow the simulated vehicle path and achieve the simulated vehicle orientation.

21. A computer-readable medium readable by a computer, said computer-readable medium embodying a program of instructions executable by the computer to cause the computer to produce vehicle control commands for an autonomous vehicle by performing the actions of:

receiving data relating to a plurality of proposed vehicle locations;

generating a simulated vehicle path based on the received data relating to the proposed vehicle locations;

determining a simulated vehicle orientation for the autonomous vehicle for at least one point on the simulated vehicle path;

displaying at least the simulated vehicle orientation in a user-discernable form;

receiving a user verification of the simulated vehicle orientation for at least one point on the simulated vehicle path; and

producing vehicle control commands for the autonomous vehicle from the simulated vehicle path and simulated vehicle orientation.

22. A method for producing vehicle control commands for an autonomous vehicle, comprising:

determining a plurality of proposed vehicle locations;

inputting the proposed vehicle locations into a computer;

instructing the computer to generate a simulated vehicle path based on the plurality of proposed vehicle locations and a simulated vehicle orientation for at least one point on the simulated vehicle path and to display the simulated vehicle orientation in user-discernable form, the simulated vehicle orientation being with reference to an axis of the autonomous vehicle;

verifying the simulated vehicle orientation for at least one point on the simulated vehicle path; and

instructing the computer to produce vehicle control commands based on the simulated vehicle path and simulated vehicle orientation.

23. The method of claim 22, further comprising, editing, on the computer, the proposed vehicle locations to change the simulated vehicle orientation along the simulated vehicle path.

24. The method of claim 23, further comprising, after said editing:

instructing the computer to generate a revised simulated vehicle path and a revised simulated vehicle orientation for at least one point on the revised simulated vehicle path and display the revised simulated vehicle orientation in user-discernable form;

verifying the revised simulated vehicle orientation for at least one point on the revised simulated vehicle path; and

instructing the computer to produce vehicle control commands based on the revised simulated vehicle path and revised simulated vehicle orientation.

25. The method of claim 22, wherein inputting the proposed vehicle locations into the computer comprises inputting data of a proposed hole location and a waypoint.

26. The method of claim 25, further comprising, editing, on the computer, the proposed vehicle locations to change the simulated vehicle orientation along the simulated vehicle path.

27. The method of claim 26, wherein said editing comprises inputting at least one waypoint to change the simulated vehicle orientation at a point along the simulated vehicle path.

28. The method of claim 22, wherein said instructing the computer to produce vehicle control commands is automatically performed after said verifying without further user input.

29. The method of claim 22, wherein the simulated vehicle path comprises a plurality of simulated vehicle path segments.

30. The method of claim 29, wherein instructing the computer to generate a simulated vehicle path based on the plurality of proposed vehicle locations comprises comparing at least one simulated vehicle path segment with a permitted vehicle motion parameter.

31. The method of claim 29, wherein the simulated vehicle orientation is based on an orientation of at least one simulated vehicle path segment.

32. A method for controlling an autonomous vehicle, comprising:

receiving data relating to a plurality of proposed vehicle locations;

generating a simulated vehicle path based on the received data, the simulated vehicle path comprising simulated vehicle path segments;

comparing at least one simulated vehicle path segment with a permitted vehicle motion parameter;

notifying the user if the at least one simulated vehicle path segment is not compliant with the permitted vehicle motion parameter; and

disallowing the proposed vehicle location;

generating a revised proposed vehicle location; and

generating a revised simulated path segment;

determining a simulated vehicle orientation for multiple proposed vehicle locations, the simulated vehicle orientation being in relation to an axis of the autonomous vehicle;

sequentially displaying the simulated vehicle orientation at multiple proposed vehicle locations;

following the sequentially displaying of the simulated vehicle orientation, receiving a user verification of the simulated vehicle orientation for at least one proposed vehicle location on the simulated vehicle path, producing a user-verified simulated vehicle orientation;

producing approved vehicle control commands from the simulated vehicle path and user-verified simulated vehicle orientation; and

applying the approved vehicle control commands to cause the autonomous vehicle to follow the simulated vehicle path and achieve the user-verified simulated vehicle orientation.

33. The method of claim 32, wherein the plurality of proposed vehicle locations comprises at least one proposed hole location.

34. The method of claim 33, wherein the simulated vehicle path does not include passage over a proposed hole location after said proposed hole location is to have been drilled.