Dynamic collision-avoidance system and method

• US 10,276,051 B2
• Filed: 07/24/2018
• Issued: 04/30/2019
• 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:
  US16/044,192
• Publication Number:
  US 20190051196A1
• Time in Patent Office: 280 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 derivative command to said control system causing the vehicle to travel in said flight direction.

Claims

1. A collision-avoidance system for an aerial vehicle having a flight-control system, the collision-avoidance system comprising:

one or more sensors to detect collision threats within a field of view of the one or more sensors of the aerial vehicle; and

a processor communicatively coupled with each of the one or more sensors;

wherein the processor is configured to generate, using at least one of said one or more sensors, obstruction data reflecting a position of a collision threat;

wherein the processor is configured to receive a navigation command from the flight-control system;

wherein the processor is configured to generate, based at least in part on the obstruction data, a derivative command by attenuating the navigation command as a function of the position of the collision threat; and

wherein the processor is configured to communicate the derivative command to the flight-control system to cause the aerial vehicle to deviate from a flight path to avoid the collision threat.

2. The collision-avoidance system of claim 1, wherein the navigation command is generated by an onboard autopilot.

3. The collision-avoidance system of claim 1, wherein the one or more sensors comprises at least one echolocation sensor.

4. The collision-avoidance system of claim 1, wherein the processor is configured to generate, based at least in part on the obstruction data, a global environment estimate that reflects physical features of an area.

5. The collision-avoidance system of claim 1, wherein the one or more sensors comprises at least two sensors and the processor is configured to fuse data from each of the at least two sensors to generate the obstruction data.

6. The collision-avoidance system of claim 1, wherein the processor is configured to maintain a predetermined safe distance from the collision threat when the aerial vehicle is subjected to one or more environmental conditions.

7. The collision-avoidance system of claim 1, wherein the derivative command instructs the aerial vehicle to perform a predetermined responsive maneuver if a distance between the aerial vehicle and the collision threat is less than a predetermined distance.

8. The collision-avoidance system of claim 1, wherein the derivative command instructs the aerial vehicle to maintain a predetermined distance between the aerial vehicle and the collision threat.

9. The collision-avoidance system of claim 1, wherein the collision threats are not static, and the processor is configured to track the collision threats dynamically.

10. The collision-avoidance system of claim 3, wherein the one or more sensors further comprises at least one vision-based sensor.

11. The collision-avoidance system of claim 10, wherein the processor is configured to identify, via the at least one vision-based sensor, larger objects through three-dimensional reconstruction techniques.

12. A method of navigating an aerial vehicle having a flight-control system, the method comprising the steps of:

detecting, via one or more sensors, collision threats within a field of view of the one or more sensors of the aerial vehicle, wherein the one or more sensors are communicatively coupled with a processor;

receiving, via the processor, a navigation command from the flight-control system;

generating, using at least one of said one or more sensors, obstruction data reflecting a position of a collision threat;

generating, via the processor, a derivative command as a function of the obstruction data, wherein the derivative command is generated by attenuating the navigation command as a function of the position of the collision threat; and

communicating the derivative command to the flight-control system to cause the aerial vehicle to deviate from a flight path to avoid the collision threat.

13. The method of claim 12, further comprising the step of fusing data from at least two sensors to generate the obstruction data.

14. The method of claim 12, further comprising the step of maintaining a predetermined safe distance from the collision threat when the aerial vehicle is subjected to one or more environmental conditions.

15. The method of claim 12, wherein the one or more sensors comprises at least one echolocation sensor.

16. The method of claim 12, wherein the flight-control system is an existing flight-control system of the aerial vehicle.

17. The method of claim 12, further comprising the step of generating, based at least in part on the obstruction data, a global environment estimate that reflects physical features of an area.

18. The method of claim 12, wherein the derivative command is generated by attenuating the navigation command as a function of a distance between the aerial vehicle and the collision threat.

19. The method of claim 12, further comprising the step of instructing the aerial vehicle to perform a predetermined responsive maneuver if a distance between the aerial vehicle and the collision threat is less than a predetermined distance.

20. The method of claim 12, further comprising the step of instructing the aerial vehicle to maintain a predetermined distance between the aerial vehicle and the collision threat.