Systems and Methods for Switching Between Autonomous and Manual Operation of a Vehicle

• US 20110071718A1
• Filed: 12/03/2010
• Published: 03/24/2011
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Gilbertson, Seth, Norris, William Robert, Allard, James, Norby, Andrew Julian, Turner, Christopher David Glenn, Haun, Robert Dale, Filippov, Mikhail O.
• Granted Patent: US 9,098,080 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• 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 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 1/0259 using magnetic or electromagnetic means
• 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
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

Systems and methods for switching between autonomous and manual operation of a vehicle are described. A mechanical control system can receive manual inputs from a mechanical operation member to operate the vehicle in manual mode. An actuator can receive autonomous control signals generated by a controller. When the actuator is engaged, it operates the vehicle in an autonomous mode, and when disengaged, the vehicle is operated in manual mode. Operating the vehicle in an autonomous mode can include automatically controlling steering, braking, throttle, and transmission. A system may also allow the vehicle to be operated via remote command.

Claims

1. A method for operating a robotically operable vehicle, comprising:

receiving a manual input;

operating the vehicle in a manual mode with a mechanical vehicle control system, at least in part in accordance with the manual input;

receiving a mode switch signal from a controller;

disabling the mechanical vehicle control system with an electric clutch in response to the mode switch signal; and

operating the vehicle in an autonomous mode at least in part through an actuator.

2. The method as in claim 1, wherein operating the vehicle in the autonomous mode at least in part through the actuator comprises operating the vehicle in response to autonomous control signals generated by the controller.

3. The method as in claim 1, further comprising providing an E-Stop system that removes power from the electric clutch but not from the actuator.

4. The method as in claim 1, further comprising providing at least one of a brake handle, a brake pedal, a throttle, a steering wheel, or a gearshift lever to receive the manual input.

5. The method as in claim 1, wherein the mechanical vehicle control system comprises a braking system, a steering system, a throttle system, and a transmission system,

wherein operating the vehicle in the autonomous mode at least in part through the actuator comprises operating the braking system, the steering system, the throttle system, and the transmission system.

6. The method of claim 1, further comprising:

mating the mechanical vehicle control system and an autonomous control system with the electric clutch;

wherein operating the vehicle in the manual mode comprises disengaging the clutch to allow the mechanical vehicle control system to operate the vehicle in the manual mode;

wherein operating the vehicle in the autonomous mode comprises engaging the clutch to allow the autonomous control system to operate the vehicle in the autonomous mode in response to autonomous control signals,

the method further comprising;

removing power in the clutch, while leaving power in the autonomous control system, at least in part through an E-Stop system.

7. The method as in claim 6, wherein the E-Stop system is triggered upon receipt of manual inputs by at least one of a brake handle, a brake pedal, a throttle, a steering wheel, a gearshift lever, or an E-Stop switch.

8. The method of claim 1 further comprising:

receiving a manual input from a parking brake;

disengaging an electric clutch to prohibit control by the autonomous control system while leaving power in the autonomous control system; and

operating the vehicle in a manual mode, at least in part through a mechanical vehicle control system.

9. A method for operating a robotically operable vehicle comprising:

receiving a first mode signal indicating an autonomous mode selection;

determining that a parking brake lever has been placed in a set position, wherein a parking brake is engaged;

disengaging the parking brakes while maintaining the parking brake lever in the set position; and

starting the vehicle in an autonomous mode controlled by a controller capable of generating autonomous control signals.

10. The method of claim 9, further comprising:

receiving a second mode switch signal indicating a manual mode selection;

disengaging the vehicle from the autonomous mode; and

engaging the parking brakes.

11. The method of claim 10, wherein the second mode switch signal comprises at least one of a signal indicating a movement of the parking brake lever or a signal indicating a movement of a mechanical operation member.

12. The method of claim 10, wherein the second mode switch signal comprises an E-Stop signal configured to cause the vehicle to stop and the engine of the vehicle to stop.

13. The method of claim 9, further comprising:

receiving an input signal indicative of the exercise of human judgment; and

prioritizing the input signal above the autonomous control signals.

14. The method of claim 9, wherein starting the vehicle in the autonomous mode comprises engaging at least one normally disengaged electrical clutch incorporated in a mechanical linkage.

15. The method of claim 9, wherein the set position has mechanical bias, the method further comprising disengaging the parking brake by an electrical actuator overcoming the mechanical bias so that the parking brake is configured to re-engage the mechanical bias if the electrical actuator loses power.

16. The method of claim 15, further comprising removing power from the actuator by an unset position of the parking brake level that actuates a safety stop.

17. The method of claim 16, further comprising resetting safety stop by the controller before the controller disengages the parking brake.

18. A system for operating a robotically operable vehicle, comprising:

a parking control element with a predetermined setting that is configured for disabling movement of the vehicle in a manual mode;

a controller configured to generate a signal indicating autonomous mode operation; and

a disengaging mechanism to receive the signal and to enable movement in an autonomous mode to start the vehicle while leaving the parking control element in the predetermined position.

19. The system as in claim 18, wherein the disengaging mechanism disables movement in autonomous mode and engages the parking brakes if the parking control element moves out of the predetermined setting or if the controller generates an E-Stop signal.

20. The system as in claim 18, wherein enabling movement in an autonomous mode comprises engaging at least one normally disengaged electrical clutch incorporated in a mechanical linkage.

21. The system of claim 18, wherein the disengaging mechanism comprises an electrically actuated clutch, system further comprising:

a mechanical vehicle control system capable of receiving manual inputs from a mechanical operation member to operate the vehicle in the manual mode;

the controller capable of generating autonomous control signals during autonomous mode operation;

at least one actuator configured to receive the autonomous control signals and operate the mechanical vehicle control system in an autonomous mode; and

at least one mechanically charged safety system that is mechanically biased to suppress movement of a movable system of the vehicle, comprising the clutch that releases the mechanical bias and permits movement of the movable system when the clutch is activated by the robotics controller.

22. The system of claim 21, wherein when electrical power is removed from the robotic controller, the clutch deactivates and suppresses movement of the movable system.

23. A robotic control system for operating a robotically operable vehicle comprising:

at least one operation system of the vehicle;

at least one electrically controlled actuator and at least one remote operation member corresponding to each operation system;

a mechanical linkage comprising at least a restoration member that permits control of the operation system by the remote operation member when the restoration member is in an engaged state, and prohibits control when in a disengaged state; and

wherein the actuator prohibits control of the operation system by the remote operation member when the actuator is in an engaged state, and permits control of the operation system by the remote operation member when the actuator is in a disengaged state.

24. The system as in claim 23, where the actuator is disengaged when the restoration mechanism is engaged.

25. The system as in claim 23, where the actuator is engaged when the restoration mechanism is engaged, and the remote operation member controls the operation system.

26. The system as in claim 23, the operation system comprising at least one of a steering system, a throttle system, a braking system, or a transmission system.

27. The system as in claim 23, where the restoration mechanism is at least one of an electromagnetically actuated clutch or a mechanical device including at least one of pull-pin, a lever, a pedal, a push button, or a switch.

28. The system as in claim 23, where each operation system is backdrivable when the restoration mechanism is engaged.