Dynamic collision-avoidance system and method

• US 9,875,661 B2
• Filed: 03/04/2015
• Issued: 01/23/2018
• Est. Priority Date: 05/10/2014
• Status: Active Grant

• Current Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Original Assignee: Aurora Flight Sciences Corporation (The Boeing Co.)
• Inventors: Kunzi, Fabrice, Rogers, Donald, McKenna, Terrence
• Primary Examiner(s): CAMBY, RICHARD M
• Application Number:
  US14/638,255
• Publication Number:
  US 20160125746A1
• Time in Patent Office: 1,056 Days
• CPC Class Codes: G01S 13/86 Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
• CPC Class Codes: G01S 13/933 of aircraft or spacecraft
• CPC Class Codes: G01S 15/87 Combinations of sonar systems
• CPC Class Codes: G01S 15/93 for anti-collision purposes
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• 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 1/102 specially adapted for vertical take-off of aircraft
• CPC Class Codes: G08G 5/0021 located in the aircraft
• CPC Class Codes: G08G 5/0069 specially adapted for an unmanned aircraft
• CPC Class Codes: G08G 5/045 Navigation or guidance aids, e.g. determination of anti-collision manoeuvers radar or analogous systems specially adapted for anti-collision between aircraft G01S13/933

Abstract

An obstacle-avoidance system for a vehicle, the obstacle-avoidance system may comprise: a communication device; a plurality of sensors, the plurality of sensors configured to detect collision threats within a predetermined distance of the vehicle; and a processor. The processor may communicatively couple to the communication device and the plurality of sensors and configured to receive navigation commands being communicated to a control system via said communication device. The processor may also receive, from at least one of said plurality of sensors, obstruction data reflecting the position of an obstruction. Using the obstruction data, the processor identifies a direction for avoiding said obstruction. In response, the processor may output, via said communication device, a command to said control system causing the vehicle to travel in said flight direction.

Claims

1. An obstacle-avoidance system for augmenting control inputs in an aerial vehicle, the obstacle-avoidance system comprising:

a sensor to generate obstruction data identifying a collision threats within a predetermined field of view (FOV); and

a processor communicatively coupled to the sensor and a control system of the aerial vehicle, the processor being configured to dynamically;

receive an original control input having a magnitude from the control system,

receive, from the sensor, obstruction data reflecting a position of a collision threat within the predetermined FOV,

generate a modified control input by reducing the magnitude of the original control input as a function of a distance between the aerial vehicle and the collision threat, and

output the modified control input to avoid the collision threat.

2. The obstacle-avoidance system of claim 1, wherein the sensor is an echolocation sensor to emit a sound frequency and to detect an echo resulting therefrom, wherein the processor is configured to determine the location of the collision threat in the predetermined FOV based at least in part on the strength or direction of the echo.

3. The obstacle-avoidance system of claim 1, wherein a plurality of sensors is positioned on the aerial vehicle to obtain a wide field of view that extends beyond the aerial vehicle'"'"'s line of flight, wherein the plurality of sensors comprises an acoustic sensor to provide an acoustic FOV and an optical sensor to provide an optical FOV.

4. The obstacle-avoidance system of claim 3, wherein the plurality of sensors is positioned on the aerial vehicle to detect collision threats within a 360 degree FOV about the aerial vehicle.

5. The obstacle-avoidance system of claim 1, wherein the processor is configured to reduce the magnitude of original control inputs from a human pilot that instruct the aerial vehicle to travel toward the collision threat.

6. The obstacle-avoidance system of claim 1, wherein the processor is configured to reduce the magnitude of original control inputs from a human pilot that instruct the aerial vehicle to travel toward the collision threat while passing, without a reduction in the magnitude, original control inputs from the human pilot that instruct the aerial vehicle to navigate away from the collision threat.

7. The obstacle-avoidance system of claim 1, wherein the processor is configured to completely reject the original control input when the distance is less than a predetermined distance.

8. The obstacle-avoidance system of claim 1, wherein the processor is configured to output the modified control input to said control system in lieu of the original control input.

9. The obstacle-avoidance system of claim 1, wherein the processor is configured to output the modified control input to a steering mechanism or a controller of the steering mechanism in lieu of the original control input.

10. The obstacle-avoidance system of claim 1, wherein the obstacle-avoidance system is integrated with the control system.

11. The obstacle-avoidance system of claim 1, wherein the aerial vehicle includes a steering mechanism having a plurality of rotors operatively coupled with a controller.

12. The obstacle-avoidance system of claim 1, wherein the processor is configured to generate, based at least in part on said obstruction data, a global environment estimate to represent an environment in which the aerial vehicle is operating, wherein the global environment estimate is communicatively available to one or more aerial vehicle systems, including at least a navigation system.

13. The obstacle-avoidance system of claim 1, wherein the processor is configured to reduce the magnitude of the original control input as an inverse function, whereby reduction in the magnitude of the original control input increases as the distance decreases.

14. The obstacle-avoidance system of claim 1, wherein the modified control input is generated as a function of both the distance and environmental conditions.

15. The obstacle-avoidance system of claim 1, wherein the original control input is a pilot input from a wireless remote controller and the processor is configured to modify the original control input using at least one of:

(1) a high-pass filter;

(2) a low-pass filter;

(3) a band-pass filter, (4) feed-forward control, and (5) a high-gain integrator.

25. The obstacle-avoidance system of claim 6, wherein the original control input identifies an original navigational path and the modified control input identifies a modified navigational path, wherein the processor is configured to return the vehicle from the modified navigational path to the original navigational path once the collision threat is avoided.

26. The obstacle-avoidance system of claim 11,

wherein the obstacle-avoidance system is configured to be removably coupled with the aerial vehicle,

wherein the control system is an existing flight-control system of the aerial vehicle, and

wherein the processor is configured to output the modified control input to the steering mechanism in lieu of the original control input.

27. The obstacle-avoidance system of claim 26, wherein the obstacle-avoidance system is configured to intercept an original control input sent from the existing flight-control system intended for the steering mechanism.

28. The obstacle-avoidance system of claim 27, wherein the obstacle-avoidance system is operatively coupled with the aerial vehicle without modification to the existing flight-control system.

29. The obstacle-avoidance system of claim 27, wherein the obstacle-avoidance system is configured to replace the original control input with the modified control input and to send the modified control input to the steering mechanism in lieu of the original control input.

30. The obstacle-avoidance system of claim 11, wherein the obstacle-avoidance system is coupled to an exterior surface of the aerial vehicle.

31. The obstacle-avoidance system of claim 30, wherein the obstacle-avoidance system is removably coupled with the aerial vehicle via a modular housing.

16. A retrofit navigational module to provide improved navigation in an existing aerial vehicle having a flight-control system and a steering mechanism, the retrofit navigational module comprising:

a modular housing to couple with an exterior surface of the aerial vehicle;

a plurality of sensors coupled to the modular housing to generate obstruction data identifying a collision threat proximate to the aerial vehicle; and

a processor communicatively coupled with each of the plurality of sensors, the flight-control system, and the steering mechanism, wherein the processor is configured to;

intercept an original control input having a magnitude sent from the flight-control system intended for the steering mechanism,

generate a modified control input based at least in part on the original control input and said obstruction data, wherein the processor is configured to generate the modified control input by reducing the magnitude of the original control input as a function of a distance between the aerial vehicle and the collision threat, and communicate the modified control input to the steering mechanism in lieu of the original control input to avoid the collision threat.

17. The retrofit navigational module of claim 16, wherein the modular housing is removably coupled with the exterior surface of the aerial vehicle.

18. An aerial vehicle configured with the retrofit navigational module of claim 16.

19. An aerial vehicle comprising:

a flight-control system to dynamically output original control inputs;

a plurality of sensors to generate obstruction data identifying a collision threat;

a steering mechanism to steer the autonomous aerial vehicle along a navigational path in response to control inputs from the flight-control system; and

a processor communicatively coupled to each of the plurality of sensors, the flight-control system, and the steering mechanism, the processor being configured to augment control inputs sent from the flight-control system to the steering mechanism, wherein the processor is configured to dynamically;

intercept original control inputs having a magnitude from a remote operator via the flight-control system;

generate augmented control inputs based at least in part on the original control inputs and said obstruction data by reducing the magnitude of the original control inputs as a function of a distance between the aerial vehicle and the collision threat; and

communicate the augmented control inputs to the steering mechanism.

20. The aerial vehicle of claim 19, wherein the plurality of sensors comprises an echolocation sensor to provide an acoustic field of view (FOV) and an optical sensor to provide an optical FOV, wherein the echolocation sensor is configured to emit a sound frequency and to detect an echo resulting therefrom, wherein the processor is configured to determine the location of the collision threat in the acoustic FOV based at least in part on the strength or direction of the echo.

21. The aerial vehicle of claim 19, wherein the steering mechanism comprises at least four fixed rotors operatively coupled with a controller.

22. The aerial vehicle of claim 19, wherein the processor is configured to dynamically generate augmented control inputs to maintain the aerial vehicle at a fixed distance from a movable object to allow that movable object to be monitored without impacting a collision threat.

23. The aerial vehicle of claim 19, wherein the processor is configured to dynamically generate augmented control inputs to maintain the aerial vehicle at a fixed distance from a fixed object to allow that movable object to be monitored without impacting a collision threat.

24. The aerial vehicle of claim 19, wherein the plurality of sensors includes at least four echolocation sensors positioned on the aerial vehicle to detect collision threats within a 360 degree field of view that is oriented with the aerial vehicle'"'"'s line of flight.