Dynamic safety envelope for autonomous-vehicle collision avoidance system

• US 6,393,362 B1
• Filed: 03/07/2000
• Issued: 05/21/2002
• Est. Priority Date: 03/07/2000
• Status: Expired due to Term

• Current Assignee: Modular Mining Systems Incorporated (Komatsu Ltd.)
• Original Assignee: Modular Mining Systems Incorporated (Komatsu Ltd.)
• Inventors: Burns, Ray L.
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US09/521,436
• Time in Patent Office: 805 Days
• Field of Search: 701/117, 701/120-122, 701/119, 701/200-203, 701/206-210, 340/940, 340/988, 340/990, 340/995, 342/29, 342/357.13, 342/455, 342/457, 342/463
• US Class Current: 701/301
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

The function of each autonomous vehicle in a surface mine is performed according to a predetermined trajectory related to its particular task and implemented by a guidance system through on-board GPS and two-way communication hardware. The current position of the vehicle is continuously monitored and correlated to the position of potential hazards along its path, so that corrective action can be taken by implementing appropriate, predetermined control strategies. Each vehicle is assigned a safety envelope that accounts for the vehicle'"'"'s physical presence and operating tolerances. The safety envelope is characteristic of each vehicle and is defined by a variable space surrounding the vehicle wherein it may be physically present as it travels along its intended trajectory. The shape and size of the safety envelope is dynamically varied to meet safety requirements for current trajectory conditions facing the vehicle as it performs its autonomous function along its predetermined path. The safety envelope is changed according to a predetermined set of rules specific to the vehicle. Intersections between predetermined vehicle trajectories along paths and roadways within the mine'"'"'s property are identified dynamically by monitoring current traffic conditions and establishing locations where the safety envelopes of vehicles traveling along approaching trajectories could overlap.

Claims

1. In an autonomous vehicle system wherein traffic control apparatus guides at least one of a plurality of vehicles moving along corresponding travel trajectories, a method for imposing predetermined constraints on said at least one of the plurality of vehicles in order to prevent collisions among the vehicles, the method comprising the following steps:

(a) assigning a safety envelope to said plurality of vehicles in the system;

(b) predicting a position of the safety envelope as each vehicle travels along a trajectory; and

(c) imposing a selected safety constraint on said at least one of the vehicles when a potential overlap of safety envelopes of two or more vehicles is identified.

2. The method of claim 1, wherein said safety envelope is variable as a function of vehicle dynamic parameters.

3. The method of claim 1, wherein said safety envelope is variable as a function of vehicle dimensions.

4. The method of claim 1, wherein said step (c) is carried out by treating said potential overlap as an intersection between trajectories assigned to said two or more vehicles.

5. The method of claim 4, wherein said safety envelope is variable as a function of vehicle dynamic parameters.

6. The method of claim 4, wherein said safety envelope is variable as a function of vehicle dimensions.

7. The method of claim 1, wherein steps (b) and (c) are repeated periodically to update each vehicle'"'"'s safety constraints along the vehicle'"'"'s travel trajectory.

8. The method of claim 7, wherein said safety envelope is variable as a function of vehicle dynamic parameters.

9. The method of claim 7, wherein said safety envelope is variable as a function of vehicle dimensions.

10. The method of claim 4, wherein steps (b) and (c) are repeated periodically to update each vehicle'"'"'s safety constraints along the vehicle'"'"'s travel trajectory.

11. The method of claim 10, wherein said safety envelope is variable as a function of vehicle dynamic parameters.

12. The method of claim 10, wherein said safety envelope is variable as a function of vehicle dimensions.

13. The method of claim 1, wherein said autonomous vehicle system is implemented in a surface mine.

14. In an autonomous vehicle system wherein traffic control apparatus guides at least one of a plurality of vehicles moving along corresponding travel trajectories, apparatus for imposing predetermined constraints on said at least one of the plurality of vehicles for preventing collisions among the vehicles, comprising the following combination of components:

(a) means for assigning a safety envelope to said plurality of vehicles in the system;

(b) means for predicting a position of the safety envelope as each vehicle travels along a trajectory;

(c) means for identifying a potential overlap of safety envelopes of two or more vehicles; and

(d) means for imposing a selected safety constraint on said at least one of the vehicles when said potential overlap is identified.

15. The apparatus of claim 14, wherein said safety envelope is variable as a function of vehicle dynamic parameters.

16. The apparatus of claim 14, wherein said safety envelope is variable as a function of vehicle dimensions.

17. The apparatus of claim 14, wherein said means for imposing a selected safety constraint on said at least one of the vehicles when said potential overlap is identified includes means for treating said potential overlap as an intersection between trajectories assigned to said two or more vehicles.

18. The apparatus of claim 17, wherein said safety envelope is variable as a function of vehicle dynamic parameters.

19. The apparatus of claim 17, wherein said safety envelope is variable as a function of vehicle dimensions.

20. The apparatus of claim 14, further including means for periodically predicting the position of the safety envelope as the vehicle travels along a predetermined trajectory, identifying a potential overlap of safety envelopes of two or more vehicles, and imposing a selected safety constraint on said at least one of the vehicles when said potential overlap is identified.

21. The apparatus of claim 20, wherein said safety envelope is variable as a function of vehicle dynamic parameters.

22. The apparatus of claim 20, wherein said safety envelope is variable as a function of vehicle dimensions.

23. The apparatus of claim 17, further including means for periodically predicting the position of the safety envelope as the vehicle travels along a predetermined trajectory, identifying a potential overlap of safety envelopes of two or more vehicles, and imposing a selected safety constraint on said at least one of the vehicles when said potential overlap is identified.

24. The apparatus of claim 23, wherein said safety envelope is variable as a function of vehicle dynamic parameters.

25. The apparatus of claim 23, wherein said safety envelope is variable as a function of vehicle dimensions.

26. The apparatus of claim 14, wherein said autonomous vehicle system is implemented in a surface mine.