Systems and methods for switching between autonomous and manual operation of a vehicle

• US 9,098,080 B2
• Filed: 12/03/2010
• Issued: 08/04/2015
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: Deere & Company, iRobot Corporation
• Inventors: Norris, William Robert, Allard, James, Filippov, Mikhail O., Haun, Robert Dale, Turner, Christopher David Glenn, Gilbertson, Seth, Norby, Andrew Julian
• Primary Examiner(s): PATTON, SPENCER D
• Application Number:
  US12/959,429
• Publication Number:
  US 20110071718A1
• Time in Patent Office: 1,705 Days
• Field of Search: 701/2, 701/23, 701/41, 701/43, 701/70, 180/400, 180/404, 180/443, 180/446
• US Class Current: 1/1
• 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 robotic control system for operating a robotically operable vehicle comprising:

a plurality of operation systems that is automatically controllable when the vehicle is operated in an autonomous mode, the plurality of operation systems including;

a steering system for controlling a direction of movement of the vehicle;

a braking system for controlling braking of the vehicle,

a throttle system for controlling a speed of the vehicle; and

a transmission system for selecting a gear for the vehicle;

an electrically controlled actuator configured for, in accordance with control signals generated by an autonomous control system, operating an operation system of the plurality of operation systems;

a mechanical linkage configured for controlling an operation system of the plurality of operation systems corresponding to the mechanical linkage according to remote commands received from a remote operation member; and

a plurality of electrically actuated clutches configured for causing the vehicle to operate in the autonomous mode by powering on and allowing the plurality of operation systems to receive control signals from an autonomous control system, and for allowing the vehicle to operate in a manual mode by powering off, wherein the electrically controlled actuator is mated to at least one of the plurality of operation systems by at least one electrically actuated clutch, and wherein the robotic control system is configured to switch from the autonomous mode to the manual mode upon verifying that a human is controlling the robotically operable vehicle by;

(i) receiving, from a sensor, a sensor signal that indicates that the human is in a driver'"'"'s seat in the robotically operable vehicle, and (ii) detecting, using an algorithm executing on a processor, a pattern of controlling a plurality of controls of the robotically operable vehicle in a manner that is indicative of an exercise of human judgment.

2. The system as in claim 1, wherein the mechanical linkage has incorporated therein 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.

3. The system as in claim 1, where the operation system corresponding to the mechanical linkage is backdrivable.

4. The system as in claim 1, further comprising:

a parking control element with a predetermined setting that is configured for disabling movement of the vehicle in the 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 the autonomous mode to start the vehicle while leaving the parking control element in a predetermined position.

5. The system as in claim 4, wherein the disengaging mechanism is configured for disabling movement in the autonomous mode and for engaging parking brakes if the parking control element moves out of the predetermined setting or if the controller generates an E-Stop signal.

6. The system as in claim 4, wherein enabling movement in the autonomous mode comprises engaging at least one of the plurality of electromagnetically actuated clutches that is incorporated in the mechanical linkage.

7. The system as in claim 6, further comprising an E-Stop system capable of removing power from the plurality of electrically actuated clutches but not from the actuator.

8. The system as in claim 7, wherein the E-Stop system is configured to be 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.

9. The system as in claim 6, wherein the electrically controlled actuator comprises a plurality of electrically controlled actuators, and wherein the vehicle is configured to be operated in the autonomous mode at least in part through the plurality of electrically controlled actuators operating the braking system, the steering system, the throttle system, and the transmission system.

10. The system as in claim 4, the 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 the autonomous mode operation;

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

at least one mechanically charged safety system that is mechanically biased to suppress movement of a movable system of the vehicle, and that is configured to release the mechanical bias and permit movement of the movable system when activated by the robotic control system.

11. The system as in claim 10, further comprising a parking brake lever configured to be in a set position such that the parking brake is engaged,

wherein the controller is further configured to generate a first mode signal indicating an autonomous mode selection,

wherein the disengaging mechanism is configured to disengage the parking brake while maintaining the parking brake lever in the set position;

and

wherein the vehicle is configured to be started in the autonomous mode and controlled by the controller capable of generating autonomous control signals.

12. The system as in claim 11, wherein the actuator is further configured to:

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

disengage the vehicle from the autonomous mode; and

engage the parking brake.

13. The system as in claim 12, wherein the second mode switch signal comprises at least one of a signal configured for indicating a movement of the parking brake lever or a signal configured for indicating a movement of the mechanical operation member.

14. The system as in claim 12, 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.

15. The system as in claim 11, wherein the robotic control system is further configured to:

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

prioritize the input signal above the autonomous control signals.

16. The system as in claim 11, wherein the vehicle is configured to be started in the autonomous mode by engaging the plurality of electrically actuated clutches.

17. The system as in claim 11, wherein the set position has mechanical bias and wherein the actuator is further configured to disengage the parking brake to overcome the mechanical bias so that the parking brake is configured to re-engage the mechanical bias if the actuator loses power.

18. The system as in claim 17, wherein the controller is further configured to remove power from the actuator for re-engaging the parking brake lever that actuates a safety stop.

19. The system as in claim 18, wherein the controller is further configured to reset the safety stop before disengaging the parking brake.

20. The system of claim 10, wherein when electrical power is removed from the robotic control system, the plurality of electrically actuated clutches is configured to deactivate and suppress movement of the movable system.

21. The system as in claim 10, wherein the autonomous mode operation comprises the vehicle being configured to be operated in response to the autonomous control signals generated by the controller.

22. The system as in claim 10, wherein the vehicle is configured to be operated in the manual mode by disengaging the plurality of electrically actuated clutches to allow the mechanical vehicle control system to operate the vehicle in the manual mode and wherein the vehicle is configured to be operated in the autonomous mode by engaging the plurality of electrically actuated clutches to allow the at least one actuator to operate the vehicle in the autonomous mode in response to autonomous control signals.

23. The system as in claim 1, wherein the clutch includes a mechanical coupling for connecting and disconnecting the electrically controlled actuator and one of the plurality of operation systems.