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公开(公告)号：US20060089763A1
公开(公告)日：2006-04-27
申请号：US10971724
申请日：2004-10-22
申请人： David Barrett , James Allard , Misha Filippov , Robert Pack , Selma Svendsen
发明人： David Barrett , James Allard , Misha Filippov , Robert Pack , Selma Svendsen
IPC分类号： G06F17/00
CPC分类号： G05D1/0061
摘要： System and method for processing a safety signal in an autonomous vehicle. Safety signals are typically generated in response to the detection of unsafe conditions or are sent by the vehicle operator. In either case, the safety signals are conveyed using redundant communication paths. The paths include a computer network and a current loop. The safety signals are processed, thereby causing actuators (e.g., linkages) to manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, accelerator, or transmission shifter). The manipulation ensures the vehicle responds appropriately to the safety signals, for example, by shutting down the vehicle.
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公开(公告)号：US20060089764A1
公开(公告)日：2006-04-27
申请号：US10971725
申请日：2004-10-22
申请人： Misha Filippov , James Allard , David Barrett , Robert Pack , Selma Svendsen
发明人： Misha Filippov , James Allard , David Barrett , Robert Pack , Selma Svendsen
IPC分类号： G06F17/00
CPC分类号： G05D1/027 , G01S13/726 , G01S13/931 , G01S2013/9321 , G01S2013/9342 , G01S2013/9346 , G01S2013/935 , G01S2013/9353 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0272
摘要： System and method for tracking obstacles by an autonomous vehicle. Localization sensors (i.e., sensors to measure pitch, roll, and yaw, and systems including an inertial navigation system, a compass, a global positioning system, or an odometer) detect the position of the vehicle. Perception sensors (e.g., LIDAR, stereo vision, infrared vision, radar, or sonar) assess the environment about the vehicle. Using these sensors, locations of terrain features relative to the vehicle are computed and kept up-to-date. The vehicle trajectory is adjusted to avoid terrain features that are obstacles in the path of the vehicle.
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公开(公告)号：US20060089800A1
公开(公告)日：2006-04-27
申请号：US10971718
申请日：2004-10-22
申请人： Selma Svendsen , James Allard , David Barrett , Misha Filippov , Robert Pack
发明人： Selma Svendsen , James Allard , David Barrett , Misha Filippov , Robert Pack
IPC分类号： G05D1/00
CPC分类号： G05D1/027 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0272 , G05D1/0278
摘要： System and method for multi-modal control of a vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, accelerator, throttle lever, steering gear, tie rods, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. After receipt of a mode select command that dictates the operational mode of the vehicle (e.g., manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation), the actuators manipulate the operator input devices, in accordance with the behaviors, to affect the desired operational mode.
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公开(公告)号：US20060089766A1
公开(公告)日：2006-04-27
申请号：US10972082
申请日：2004-10-22
申请人： James Allard , David Barrett , Misha Filippov , Robert Pack , Selma Svendsen
发明人： James Allard , David Barrett , Misha Filippov , Robert Pack , Selma Svendsen
IPC分类号： G06F17/00
CPC分类号： G05D1/0061 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.
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公开(公告)号：US20060089765A1
公开(公告)日：2006-04-27
申请号：US10972081
申请日：2004-10-22
申请人： Robert Pack , James Allard , David Barrett , Misha Filippov , Selma Svendsen
发明人： Robert Pack , James Allard , David Barrett , Misha Filippov , Selma Svendsen
IPC分类号： G01C22/00
CPC分类号： G05D1/0088 , G05D1/0011 , G05D1/0061 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G06N3/008
摘要： System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
摘要翻译： 自主车辆基于行为控制的系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节流杆，舵机，系杆，节气门，制动器，加速器或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 这些行为包括以优先级排列的行动集，行动集包括车辆完成任务所采取的替代行动。 替代动作按优先级排序，并且仲裁者选择要执行的动作，并且可选地修改。
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公开(公告)号：US07979175B2
公开(公告)日：2011-07-12
申请号：US12357151
申请日：2009-01-21
CPC分类号： G05D1/0061 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.
摘要翻译： 车辆可中断自主控制的系统和方法。 通过使用与车辆中的输入装置相互作用的致动器来实现自主控制。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节气门，制动器，拉杆，转向装置，节流杆或加速器）以引导车辆的操作。 虽然自动操作，但是在检测到希望手动控制的事件之后，可以手动操作车辆。 随后的自主控制可以被允许，在规定的延迟之后允许或被阻止。
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公开(公告)号：US07499804B2
公开(公告)日：2009-03-03
申请号：US10971718
申请日：2004-10-22
CPC分类号： G05D1/027 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/0272 , G05D1/0278
摘要： System and method for multi-modal control of a vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, accelerator, throttle lever, steering gear, tie rods, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. After receipt of a mode select command that dictates the operational mode of the vehicle (e.g., manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation), the actuators manipulate the operator input devices, in accordance with the behaviors, to affect the desired operational mode.
摘要翻译： 一种车辆多模态控制系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节气门，制动器，加速器，节流杆，转向装置，拉杆或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 在接收到指示车辆的操作模式的模式选择命令（例如，有人操作，远程无人遥控，辅助远程远程操作和自主无人操作）之后，执行器根据操作者输入设备 行为，影响所需的操作模式。
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公开(公告)号：US20120109423A1
公开(公告)日：2012-05-03
申请号：US13323406
申请日：2011-12-12
IPC分类号： G05D1/02
CPC分类号： G05D1/0088 , G05D1/0011 , G05D1/0061 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G06N3/008
摘要： System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
摘要翻译： 自主车辆基于行为控制的系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节流杆，舵机，系杆，节气门，制动器，加速器或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 这些行为包括以优先级排列的行动集，行动集包括车辆完成任务所采取的替代行动。 替代动作按优先级排序，并且仲裁者选择要执行的动作，并且可选地修改。
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公开(公告)号：US08078338B2
公开(公告)日：2011-12-13
申请号：US10972081
申请日：2004-10-22
CPC分类号： G05D1/0088 , G05D1/0011 , G05D1/0061 , G05D1/0214 , G05D1/024 , G05D1/0242 , G05D1/0248 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278 , G06N3/008
摘要： System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.
摘要翻译： 自主车辆基于行为控制的系统和方法。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节流杆，舵机，系杆，节气门，制动器，加速器或变速器换档器）以引导车辆的操作。 表征车辆操作模式的行为与致动器相关联。 这些行为包括以优先级排列的行动集，行动集包括车辆完成任务所采取的替代行动。 替代动作按优先级排序，并且仲裁者选择要执行的动作，并且可选地修改。
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公开(公告)号：US07499776B2
公开(公告)日：2009-03-03
申请号：US10972082
申请日：2004-10-22
CPC分类号： G05D1/0061 , G05D1/024 , G05D1/0242 , G05D1/0251 , G05D1/0255 , G05D1/0257 , G05D1/027 , G05D1/0272 , G05D1/0274 , G05D1/0278
摘要： Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.
摘要翻译： 车辆可中断自主控制的系统和方法。 通过使用与车辆中的输入装置相互作用的致动器来实现自主控制。 致动器（例如，连杆）操纵输入装置（例如，关节运动控制和驱动控制，例如节气门，制动器，拉杆，转向装置，节流杆或加速器）以引导车辆的操作。 虽然自动操作，但是在检测到希望手动控制的事件之后，可以手动操作车辆。 随后的自主控制可以被允许，在规定的延迟之后允许或被阻止。
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