High Integrity Coordination for Multiple Off-Road Vehicles

• US 20100094499A1
• Filed: 10/15/2008
• Published: 04/15/2010
• Est. Priority Date: 10/15/2008
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne
• Granted Patent: US 8,437,901 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• 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 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• 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
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

The illustrative embodiments provide a method and apparatus for controlling and coordinating multiple vehicles. In one illustrative embodiment, machine behaviors are assigned to multiple vehicles performing a task. The vehicles are coordinated to perform the task using the assigned behaviors and a number of signals received from other vehicles and the environment during performance of the task. In another illustrative embodiment, a role is identified for each vehicle in a group of vehicles. A number of machine behaviors are assigned to each vehicle depending upon the identified role for the vehicle. The machine behaviors are selected from coordinating machine behaviors stored in a behavior library. Each vehicle is then coordinated to perform the task according to the role and machine behaviors assigned.

Claims

1. A vehicle comprising:

a machine controller;

a steering system;

a propulsion system;

a braking system;

a sensor system having a plurality of different types of sensors;

a communication system capable of providing communications using a plurality of different types of communications links;

a library of machine behaviors; and

a coordination system,

wherein the machine controller is connected to the steering system, the propulsion system, the braking system, the sensor system, the communication system, the library of machine behaviors, and the coordination system;

wherein the communications system provides communication between the vehicle and at least each vehicle in a plurality of vehicles and the coordination system;

wherein the library of machine behaviors comprises coordinating behaviors associated with one or more tasks and specific behaviors associated with one or more subtasks for carrying out aspects of the one or more tasks; and

wherein the coordination system assigns a role for each one of the plurality of vehicles for carrying out the aspects of the one or more tasks, assigns a number of machine behaviors from the library of machine behaviors to the each one of the plurality of vehicles depending upon the role assigned, and coordinates the vehicle to perform the one or more tasks using the communication system.

2. The vehicle of claim 1, wherein the sensor system, the communication system, and the coordination system are high integrity systems.

3. The vehicle of claim 1, wherein the coordination system coordinates the vehicle according to at least one of the coordinating behaviors from the library of machine behaviors and signals received from the sensor system.

4. The vehicle of claim 3, wherein the signals received from the sensor system include at least one of a status of at least one of the plurality of vehicles and an external environmental factor.

5. The vehicle of claim 1, wherein the plurality of different types of sensors comprises at least one of a global positioning system, structured light sensor, two dimensional/three dimensional lidar, dead reckoning, infrared camera, visible light camera, radar, ultrasonic sonar, radio frequency identification reader, rain sensor, and ambient light sensor.

6. The vehicle of claim 1, wherein the communication system comprises a plurality of heterogeneous communication channels.

7. The vehicle of claim 6, wherein the plurality of heterogeneous communication channels includes a plurality of data bandwidth options and a plurality of data protocol options.

8. A method for coordinating a plurality of vehicles to perform a task, the method comprising:

assigning a machine behavior to each of the plurality of vehicles to perform the task to form a plurality of assigned machine behaviors; and

coordinating the plurality of vehicles to perform the task using the plurality of assigned machine behaviors assigned and a number of signals received during performance of the task, wherein the number of signals received include at least one of a status of at least one of the plurality of the vehicles and an external environmental factor.

9. A method for coordinating a plurality of controllable vehicles to perform a task, the method comprising:

identifying a role for each one of the plurality of controllable vehicles for carrying out an aspect of the task;

assigning a number of machine behaviors to the each one of the plurality of controllable vehicles depending upon the identified role associated with the each one of the plurality of controllable vehicles, wherein the number of machine behaviors are selected from a plurality of coordinating machine behaviors, wherein the plurality of coordinating machine behaviors are stored in a library of machine behaviors, wherein the plurality of coordinating machine behaviors correspond to a plurality of tasks, and wherein each of the plurality of coordinating machine behaviors include specific behaviors for carrying out the aspect of the task; and

coordinating the each one of the plurality of controllable vehicles to perform the task according to the number of machine behaviors assigned and signals received during performance of the task, wherein the signals received include at least one of a status of at least one of the plurality of controllable vehicles and an external environmental factor.

10. The method of claim 9, wherein the plurality of controllable vehicles includes vehicles with legs, vehicles with wheels, vehicles with tracks, vehicles with rails, vehicles with wings, vehicles with propellers, vehicles with rudders, and vehicles with rollers.

11. The method of claim 9, wherein the step of assigning the number of machine behaviors to the each one of the plurality of controllable vehicles further comprises:

downloading the number of machine behaviors assigned to a controllable vehicle in the plurality of controllable vehicles having the identified role.

12. The method of claim 9, wherein the external environmental factor is one of an end of a path, a condition of the path, and a change in an operating environment.

13. The method of claim 12, wherein the condition of the path is one of normal, dry, rutted, rocky, muddy, obscured by debris, obscured by ground vegetation, and obscured by an object.

14. The method of claim 12, wherein the change in the operating environment is one of a change in environmental conditions, an object detected in the operating environment, and a person detected in the operating environment.

15. The method of claim 9, further comprising:

determining targeted tasks having a set of behaviors in the library of machine behaviors.

16. An system for coordinating a plurality of controllable vehicles, the system comprising:

a data store having a library of machine behaviors, wherein the library of machine behaviors comprises coordinating behaviors associated with one or more tasks and specific behaviors for carrying out aspects of the one or more tasks; and

a high integrity coordination system for coordinating each of the plurality of controllable vehicles according to the coordinating behaviors.

17. The system of claim 16, wherein a role is associated with each of the plurality of controllable vehicles.

18. The system of claim 16, further comprising:

a high integrity communication system, wherein the high integrity communication system comprises a plurality of heterogeneous communication channels.

19. The system of claim 18, wherein the high integrity coordination system uses the high integrity communication system to assign coordinating behaviors to each of the plurality of controllable vehicles.

20. A method for coordinating a plurality of controllable vehicles, the method comprising:

powering up the plurality of controllable vehicles;

assigning a task to the plurality of controllable vehicles;

assigning a role for the task to each of the plurality of controllable vehicles; and

initiating the plurality of controllable vehicles to execute the task according to the role assigned to each of the plurality of controllable vehicles.

21. A method for coordinated machine behavior, the method comprising:

receiving a power up command;

receiving a task assignment;

receiving a role assignment for the task assignment;

receiving an initiate task assignment command; and

executing the task assignment according to the role assignment received.

22. The method of claim 21, wherein the task assignment further comprises coordinating behaviors associated with the task assignment, wherein the role assignment further comprises specific behaviors for carrying out aspects of the task assignment, and wherein the coordinating behaviors and the specific behaviors are stored in a library of machine behaviors.

23. The method of claim 21, wherein the role assignment comprises at least one of a lead role, a middle role, and a final role.

24. The method of claim 22, wherein executing the task assignment according to the role assignment received further comprises:

executing a self-test to ensure on-board systems are running;

executing a group test check to ensure sensor systems and communication systems are communicating properly;

executing a role assignment check to ensure each of the plurality of controllable machines is properly identified;

executing a group library consistency check to ensure required coordinating behaviors and required specific behaviors are consistent across a plurality of controllable machines.

25. The method of claim 22, wherein executing the task assignment according to the role assignment received further comprises:

monitoring an operating environment;

detecting an obstacle in the operating environment; and

;

executing obstacle avoidance behaviors to avoid the obstacle in the operating environment during execution of the task assignment.

26. The method of claim 25, wherein the obstacle avoidance behaviors are stored in the library of machine behaviors.

27. The method of claim 21, wherein executing the task assignment further comprises:

maintaining a set distance from other controllable machines in the plurality of controllable machines.