METHODS, DEVICES, AND SYSTEMS FOR HIGH-SPEED AUTONOMOUS VEHICLE AND HIGH-SPEED AUTONOMOUS VEHICLE

• US 20080167771A1
• Filed: 03/25/2008
• Published: 07/10/2008
• Est. Priority Date: 11/02/2004
• Status: Abandoned Application

• Current Assignee: Byron Keith Smith, Chris Urmson, Hiroki Kato, Joshua Anhalt, Kevin Michael Peterson, Matthew Kai Johnson-Roberson, Michael Neil Clark, Nicholas Michael Miller, Vanessa Hodge, William L. Whittaker
• Original Assignee: Byron Keith Smith, Chris Urmson, Hiroki Kato, Joshua Anhalt, Kevin Michael Peterson, Matthew Kai Johnson-Roberson, Michael Neil Clark, Nicholas Michael Miller, Vanessa Hodge, William L. Whittaker
• Inventors: Kato, Hiroki, Hodge, Vanessa, Miller, Nicholas Michael, Peterson, Kevin Michael, Clark, Michael Neil, Johnson-Roberson, Matthew Kai, Smith, Byron Keith, Anhalt, Joshua, WHITTAKER, William L., Urmson, Chris
• Application Number:
  US12/054,868
• Publication Number:
  US 20080167771A1
• Time in Patent Office: Days
• US Class Current: 701/26
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

The invention comprises an autonomous off-road vehicle capable of traveling at high speeds. Preferred embodiments of the invention comprise a system for sensory instrument stabilization comprises three axis assemblies movable about three orthogonal axes. The invention also comprises novel methods for generating a high accuracy route for a robotically controlled vehicle. Other aspects of the invention include drive time, perception-based path adjustments to steer a robotic vehicle within an intended corridor. Another embodiment of the invention comprises the consideration of vehicular dynamics in generating a high accuracy route and in steering a robotic vehicle within an intended corridor.

Claims

1. A method for providing perception-based path adjustments to steer a robotic vehicle comprising the steps of:

a. providing a preselected corridor through which the vehicle is intended to travel;

b. collecting localized sensory data of the corridor upon which the vehicle is travelling;

c. assembling the collected data into a model;

d. assigning a first set of travel costs to selected portions of the model;

e. aggregating said portions into aggregates;

f. determining the maximum travel cost of the aggregates and assigning a second set of costs wherein said second set of costs comprises the maximum travel cost of the aggregate;

g. evaluating said second set of costs; and

h. providing a vehicle path based on said evaluation of said second set of costs.