Methods and systems for determining when to decommission vehicles from a fleet of autonomous vehicles

• US 9,747,568 B1
• Filed: 12/26/2012
• Issued: 08/29/2017
• Est. Priority Date: 12/26/2012
• Status: Active Grant

• Current Assignee: Loon, LLC (Alphabet Inc.)
• Original Assignee: X Development LLC (Alphabet Inc.)
• Inventors: Bonawitz, Keith Allen
• Primary Examiner(s): Nguyen, Nga B
• Application Number:
  US13/727,157
• Time in Patent Office: 1,707 Days
• Field of Search: 705 7, 705 8, 705 9, 705 725
• CPC Class Codes: G06Q 10/06315 Needs-based resource requirements planning or analysis
• CPC Class Codes: H04B 7/18504 Aircraft used as relay or high altitude atmospheric platform

Abstract

Example methods and systems for determining when to decommission vehicles from a fleet of autonomous vehicles are described. One method includes receiving information indicating a sequence of coverage requirements for a region over a period of time, and the region is characterized by landmarks and the period of time is divided into time intervals. Landmarks may be defined as a decommissioning site representative of a location at which a given vehicle can be taken out of service, and the method includes determining estimated landmarks that can be reached by one or more vehicles starting from a respective landmark by an end of a respective time interval, and based on the sequence of coverage requirements, determining which vehicles from among the vehicles that can reach the one or more landmarks defined as the decommissioning site to take out of service.

Claims

1. A method comprising:

receiving information indicative of a sequence of coverage requirements for a data network for a region over a period of time, wherein the region is characterized by a plurality of landmarks and the period of time is divided into a plurality of time intervals, and wherein an individual coverage requirement identifies a desired number of vehicles of a plurality of vehicles for given landmarks at a given time interval, wherein vehicles of the plurality of vehicles include a balloon within the data network that is operable to provide data communication via optical or radio-frequency (RF) links for the data network;

defining one or more landmarks as a decommissioning site representative of a location at which a given vehicle can be taken out of service;

determining, by a processor, for at least one respective landmark of the plurality of landmarks, estimated landmarks of the plurality of landmarks that can be reached by one or more vehicles starting from the respective landmark by an end of a respective time interval;

making, by the processor, a determination of whether given individual coverage requirements have the desired number of vehicles of the plurality of vehicles for given landmarks at the given time interval so as to satisfy the given individual coverage requirements for the data network based on changing wind conditions, in which the desired number of vehicles of the plurality of vehicles provide data communications via optical or radio-frequency (RF) links for the data network to operate at the given landmarks of the region over the period of time;

based on the sequence of coverage requirements being satisfied and the estimated landmarks that can be reached by the one or more vehicles, selecting, by the processor, from among the vehicles that can reach the one or more landmarks defined as the decommissioning site one or more vehicles for decommission and taking out of service from the data network; and

causing the one or more vehicles that are determined to be taken out of service to be taken offline from the data network and to travel to the decommissioning site for cut-down or guided descent resulting in removal from the data network.

2. The method of claim 1, further comprising determining when to decommission one or more of the plurality of vehicles based on whether the one or more of the plurality of vehicles can reach the one or more landmarks defined as the decommissioning site by an end of a given time interval.

3. The method of claim 1, further comprising selecting, from among the vehicles that can reach the one or more landmarks defined as the decommissioning site, one or more vehicles for decommission based on a likelihood of failure of the one or more vehicles by an end of a given time interval.

4. The method of claim 1, further comprising selecting, from among the vehicles that can reach the one or more landmarks defined as the decommissioning site, one or more vehicles for decommission based on an age of the one or more vehicles.

5. The method of claim 1, further comprising selecting, from among the vehicles that can reach the one or more landmarks defined as the decommissioning site, one or more vehicles for decommission based on a time of operation of the one or more vehicles in a fleet of the plurality of vehicles.

6. The method of claim 1, further comprising:

for a given time interval of the period of time, determining given vehicles of the plurality of vehicles that can reach the one or more landmarks defined as the decommissioning site at some time during the plurality of time intervals;

determining to decommission one or more of the given vehicles at a time interval prior to the given time interval.

7. The method of claim 1, further comprising:

determining whether the decommissioning site has available capacity at each of the plurality of time intervals; and

determining to decommission at least some of the vehicles based on the available capacity at the decommissioning site.

8. The method of claim 1, further comprising determining a fleet plan for the plurality of time intervals based on a number of vehicles of the plurality of vehicles in operation, the fleet plan indicating landmarks of the plurality of landmarks for vehicles of the plurality of vehicles to travel to during each of the plurality of time intervals.

9. The method of claim 8, further comprising based on a surplus of vehicles being available to satisfy the fleet plan, determining which vehicles from among the vehicles that can reach the one or more landmarks defined as the decommissioning site to take out of service.

10. The method of claim 1, further comprising for one or more vehicles to be taken out of service, determining a given decommissioning site and corresponding time interval at which to take the one or more vehicles out of service so as to schedule a decommission of the one or more vehicles.

11. The method of claim 10, further comprising based on a surplus of vehicles being available to satisfy the sequence of coverage requirements, determining which vehicles from among the vehicles that can reach the one or more landmarks defined as the decommissioning site to take out of service ahead of a scheduled decommission.

12. A non-transitory computer readable storage medium having stored therein instructions, that when executed by a computing device, cause the computing device to perform functions comprising:

receiving information indicative of a sequence of coverage requirements for a data network for a region over a period of time, wherein the region is characterized by a plurality of landmarks and the period of time is divided into a plurality of time intervals, and wherein an individual coverage requirement identifies a desired number of vehicles of a plurality of vehicles for given landmarks at a given time interval, wherein vehicles of the plurality of vehicles include a balloon within the data network that is operable to provide data communication via optical or radio-frequency (RF) links for the data network;

defining one or more landmarks as a decommissioning site representative of a location at which a given vehicle can be taken out of service;

determining for at least one respective landmark of the plurality of landmarks, estimated landmarks of the plurality of landmarks that can be reached by one or more vehicles starting from the respective landmark by an end of a respective time interval;

making a determination of whether given individual coverage requirements have the desired number of vehicles of the plurality of vehicles for given landmarks at the given time interval so as to satisfy the given individual coverage requirements for the data network based on changing wind conditions, in which the desired number of vehicles of the plurality of vehicles provide data communications via optical or radio-frequency (RF) links for the data network to operate at the given landmarks of the region over the period of time;

based on the sequence of coverage requirements being satisfied and the estimated landmarks that can be reached by the one or more vehicles, selecting from among the vehicles that can reach the one or more landmarks defined as the decommissioning site one or more vehicles for decommission and taking out of service from the data network; and

causing the one or more vehicles that are determined to be taken out of service to be taken offline from the data network and to travel to the decommissioning site for cut-down or guided descent resulting in removal from the data network.

13. The non-transitory computer readable storage medium of claim 12, wherein the functions further comprise selecting, from among the vehicles that can reach the one or more landmarks defined as the decommissioning site, one or more vehicles for decommission based on one or more of a likelihood of failure of the one or more vehicles by an end of a given time interval, an age of the one or more vehicles, and a time of operation of the one or more vehicles in a fleet of the plurality of vehicles.

14. The non-transitory computer readable storage medium of claim 12, wherein the functions further comprise:

for one or more vehicles to be taken out of service, determining a given decommissioning site and corresponding time interval at which to take the one or more vehicles out of service so as to schedule a decommission of the one or more vehicles; and

based on a surplus of vehicles being available to satisfy the sequence of coverage requirements, determining which vehicles from among the vehicles that can reach the one or more landmarks defined as the decommissioning site to take out of service ahead of a scheduled decommission.

15. A system, comprising:

at least one processor; and

data storage comprising program instructions executable by the at least one processor to cause the at least one processor to perform functions comprising;

receiving information indicative of a sequence of coverage requirements for a data network for a region over a period of time, wherein the region is characterized by a plurality of landmarks and the period of time is divided into a plurality of time intervals, and wherein an individual coverage requirement identifies a desired number of vehicles of a plurality of vehicles for given landmarks at a given time interval, wherein vehicles of the plurality of vehicles include a balloon within the data network that is operable to provide data communication via optical or radio-frequency (RF) links for the data network;

defining one or more landmarks as a decommissioning site representative of a location at which a given vehicle can be taken out of service;

determining for at least one respective landmark of the plurality of landmarks, estimated landmarks of the plurality of landmarks that can be reached by one or more vehicles starting from the respective landmark by an end of a respective time interval;

making a determination of whether given individual coverage requirements have the desired number of vehicles of the plurality of vehicles for given landmarks at the given time interval so as to satisfy the given individual coverage requirements for the data network based on changing wind conditions, in which the desired number of vehicles of the plurality of vehicles provide data communications via optical or radio-frequency (RF) links for the data network to operate at the given landmarks of the region over the period of time;

based on the sequence of coverage requirements being satisfied and the estimated landmarks that can be reached by the one or more vehicles, selecting, by the processor, from among the vehicles that can reach the one or more landmarks defined as the decommissioning site one or more vehicles for decommission and taking out of service from the data network; and

causing the one or more vehicles that are determined to be taken out of service to be taken offline from the data network and to travel to the decommissioning site for cut-down or guided descent resulting in removal from the data network.

16. The system of claim 15, wherein the functions further comprise:

determining a fleet plan for the plurality of time intervals based on a number of vehicles of the plurality of vehicles in operation, the fleet plan indicating landmarks of the plurality of landmarks for vehicles of the plurality of vehicles to travel to during each of the plurality of time intervals; and

based on a surplus of vehicles being available to satisfy the fleet plan, determining which vehicles from among the vehicles that can reach the one or more landmarks defined as the decommissioning site to take out of service.