Shared control of semi-autonomous vehicles including collision avoidance in multi-agent scenarios
First Claim
1. A method of providing shared control over movement of a vehicle within a space, comprising:
- receiving user input related to a velocity for the vehicle within the space;
processing the user input with a local motion planner selectively adjusting the velocity based on a set of predefined constraints and presence of neighboring vehicles in the space to generate a trajectory for the vehicle in the space;
communicating motion control signals including the trajectory to the vehicle; and
operating drive mechanisms in the vehicle based on the motion control signals to move the vehicle from a first position to a second position within the space for an upcoming time period,wherein the set of predefined constraints comprises a grid map of the space that defines locations of obstacles in the space,wherein the processing of the user input includes searching the grid map to identify the obstacles and to define a path from the first position to the second position in the space that avoids the obstacles, andwherein the obstacles comprise virtual objects displayed in the space or on a monitor in the vehicle.
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Accused Products
Abstract
A method for providing shared control over movement of a vehicle within a space. The method includes receiving user input related to a velocity and a direction for the vehicle within the space. The method includes processing the user input to selectively adjust the velocity and the direction desired by the user based on a set of predefined constraints to generate a trajectory for the vehicle for an upcoming time period. The method includes operating drive mechanisms in the vehicle based on the trajectory to move the vehicle from a first position to a second position within the space during the upcoming time period. A grid map defining locations of obstacles in the space may be used to define the trajectory to avoid collisions, and a guidance trajectory may be used to further control movement to achieve a desired throughput and control vehicle movement within particular portions of the space.
78 Citations
43 Claims
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1. A method of providing shared control over movement of a vehicle within a space, comprising:
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receiving user input related to a velocity for the vehicle within the space; processing the user input with a local motion planner selectively adjusting the velocity based on a set of predefined constraints and presence of neighboring vehicles in the space to generate a trajectory for the vehicle in the space; communicating motion control signals including the trajectory to the vehicle; and operating drive mechanisms in the vehicle based on the motion control signals to move the vehicle from a first position to a second position within the space for an upcoming time period, wherein the set of predefined constraints comprises a grid map of the space that defines locations of obstacles in the space, wherein the processing of the user input includes searching the grid map to identify the obstacles and to define a path from the first position to the second position in the space that avoids the obstacles, and wherein the obstacles comprise virtual objects displayed in the space or on a monitor in the vehicle. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method for controlling vehicle movement through a drive or air space, comprising:
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with a controller, receiving user input related to a user-preferred trajectory for moving the vehicle within the space; and with the controller, processing the user input to selectively adjust the trajectory based on a set of predefined constraints to generate a control trajectory for the vehicle in the space for an upcoming time period, wherein the set of predefined constraints comprises a grid map of the space that defines locations of obstacles in the space, wherein the processing of the user input includes searching the grid map to identify the obstacles and to define a path from the first position to the second position in the space that avoids the obstacles, wherein the set of predefined constraints comprises a guidance trajectory defining a passageway through the space that can be traveled by the vehicle without collision with the obstacles, wherein the trajectory is defined to retain the vehicle within the passageway, wherein the passageway comprises a set of interconnected waypoints in the space, wherein an active area in which the vehicle may move is associated with each of the waypoints, and wherein at least some of the active areas differ in size or shape defining differing areas in which the vehicle may move within the space. - View Dependent Claims (8)
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9. A method for controlling a vehicle in an installation, comprising:
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receiving a user-generated vehicle motion command for the vehicle; determining whether the user-generated vehicle motion command implicates a constraint; when the user-generated vehicle motion command implicates the constraint, combining the user-generated vehicle motion command with a system-generated command to produce a modified vehicle motion command to control movement of the vehicle in the installation; and when the user-generated vehicle motion command does not implicate the constraint, using the user-generated vehicle motion command to control movement of the vehicle in the installation, wherein the combining of the user-generated vehicle motion command with the system-generated command to produce the modified vehicle motion command comprises performing an optimization adapted to maintain a perception that the user-generated vehicle motion command is directly controlling the vehicle subject to the constraint, wherein the constraint comprises at least one of avoiding collision with other vehicles moving in the installation, avoiding collision with static obstacles in the installation, and ensuring a defined motion is realizable by the vehicle, and wherein the optimization is global whereby motion commands are computed concurrently for all vehicles, including the vehicle, in the installation. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A method for controlling a vehicle in an installation, comprising:
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receiving a user-generated vehicle motion command for the vehicle; determining whether the user-generated vehicle motion command implicates a constraint; when the user-generated vehicle motion command implicates the constraint, combining the user-generated vehicle motion command with a system-generated command to produce a modified vehicle motion command to control movement of the vehicle in the installation; and when the user-generated vehicle motion command does not implicate the constraint, using the user-generated vehicle motion command to control movement of the vehicle in the installation, wherein the combining of the user-generated vehicle motion command with the system-generated command to produce the modified vehicle motion command comprises performing an optimization adapted to maintain a perception that the user-generated vehicle motion command is directly controlling the vehicle subject to the constraint, wherein the constraint comprises at least one of avoiding collision with other vehicles moving in the installation, avoiding collision with static obstacles in the installation, and ensuring a defined motion is realizable by the vehicle, and wherein a solution of the optimization is determined by wave expansion within a convex area defined by half-plane constraints determined to avoid collision with other vehicles until a value is determined that satisfies the constraint to avoid collision with fixed surface of the installation and satisfies the constraint to ensure the defined motion is realizable. - View Dependent Claims (26, 27, 28, 29, 31, 32, 33, 34, 35, 36, 37, 38, 39)
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30. The method of 28, wherein consistency between the vehicle and the guidance trajectory is maintained by adding a motion component that directs the vehicle towards a point within the guidance trajectory for a next time instant.
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40. A method of providing shared control over movement of a vehicle within a space, comprising:
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receiving user input related to a velocity for the vehicle within the space; processing the user input with a local motion planner selectively adjusting the velocity based on a set of predefined constraints and presence of neighboring vehicles in the space to generate a trajectory for the vehicle in the space; communicating motion control signals including the trajectory to the vehicle; and operating drive mechanisms in the vehicle based on the motion control signals to move the vehicle from a first position to a second position within the space for an upcoming time period, wherein the set of predefined constraints comprises a guidance trajectory defining a passageway through the space that can be traveled by the vehicle without collision with the obstacles and wherein the trajectory is defined to retain the vehicle within the passageway, wherein the passageway comprises a set of interconnected waypoints in the space, wherein an active area in which the vehicle may move is associated with each of the waypoints, and wherein at least some of the active areas differ in size or shape defining differing areas in which the vehicle may move within the space. - View Dependent Claims (41, 42, 43)
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Specification