WO2008036805B1 - Autonomous vehicle controller - Google Patents

Autonomous vehicle controller

Info

Publication number
WO2008036805B1
WO2008036805B1 PCT/US2007/079008 US2007079008W WO2008036805B1 WO 2008036805 B1 WO2008036805 B1 WO 2008036805B1 US 2007079008 W US2007079008 W US 2007079008W WO 2008036805 B1 WO2008036805 B1 WO 2008036805B1
Authority
WO
WIPO (PCT)
Prior art keywords
controller
vehicle
sensor array
combination
sensor
Prior art date
Application number
PCT/US2007/079008
Other languages
French (fr)
Other versions
WO2008036805A1 (en
Inventor
Edzko Smid
Paul Fleck
Ka C Cheok
Tom Stiglich
Original Assignee
Jadi Inc
Edzko Smid
Paul Fleck
Ka C Cheok
Tom Stiglich
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jadi Inc, Edzko Smid, Paul Fleck, Ka C Cheok, Tom Stiglich filed Critical Jadi Inc
Priority to EP07842871A priority Critical patent/EP2064605A1/en
Priority to CA002663927A priority patent/CA2663927A1/en
Publication of WO2008036805A1 publication Critical patent/WO2008036805A1/en
Publication of WO2008036805B1 publication Critical patent/WO2008036805B1/en

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B47/00—Devices for handling or treating balls, e.g. for holding or carrying balls
    • A63B47/02—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting
    • A63B47/021—Devices for handling or treating balls, e.g. for holding or carrying balls for picking-up or collecting for picking-up automatically, e.g. by apparatus moving over the playing surface
    • A63B2047/022—Autonomous machines which find their own way around the playing surface
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Abstract

The present invention relates to a controller for providing a vehicle with autonomous control. The controller preferably provides path planning to an autonomous vehicle.

Claims

AMENDED CLAIMS[Received by the International Bureau on 14 April 2008 (14.04.2008)]What is claimed is:
1. An autonomous vehicle controller (30) for providing autonomous control to a vehicle, comprising: a vehicle interface that communicates with the vehicle and provides instructions to the vehicle regarding acceleration, braking, steering or a combination thereof; an operator interface that communicates with and receives instructions from an operator, the instructions including task instructions, path planning information or both; an environmental sensor array that receives sensor data about the vehicle or its surrounding environment and communicates the sensor data to the to the processing unit, such data including vehicle speed, compass heading, absolute position, relative position or a combination thereof, wherein the sensor array includes a UWB sensor; and a processing unit having software for communicating with the vehicle through the vehicle interface, with the operator through the operator interface, the environmental sensor array or a combination thereof; wherein the controller provides autonomous control to the vehicle for a period of time.
2. A controller as in claim 1 wherein the period of time of autonomous control is at least one hour after instructions are provided to the operator interface.
3. A controller as in claim 1 or 2 wherein the vehicle interface communicates with the vehicle via a wireless communication system and wherein the operator interface communicates information from the vehicle to the operator, such information including vehicle speed, position information, fault information or a combination thereof.
4. A controller as in claim 1 , 2 or 3 wherein the sensor array monitors engine operating conditions, fuel level, battery level, engine temperature, hydraulic fluid levels, electric systems or a combination thereof of the vehicle.
5. A controller as in any of claims 1-4 wherein the sensor array monitors status of other sensors in the sensor array.
6. A controller as in any of claims 1-5 wherein the sensor array includes collision avoidance sensors, which include a bumper switch, short range sonar, short range radar, a camera based system or a combination thereof.
7. A controller as in any of claims 1-6 wherein the sensor array includes sensors that monitor visibility conditions, weather conditions, air quality, solar power or a combination thereof.
8. A controller as in any of claims 1-7 wherein the sensor array includes at least one sensor that monitors motion of the vehicle including rate of acceleration, pitch rate, roll rate, yaw rate or a combination thereof and at least one sensor that monitors motion includes an accelerometer, a gyroscope, a speedometer or a combination thereof.
9. (cancelled)
10. A controller as in any of claims 1-8 wherein the vehicle interface, the environmental sensor array and the processing unit are within or attached to a housing.
11. A controller as in any of claims 1-10 wherein the AVC is programmed to provide path planning to the AV and such path planning includes marking a path of way points on a digitized geospatial representation.
12. A controller as in claim 11 wherein the waypoints mark a path that is the perimeter of a scan area that the AV then scans.
13. A controller as in claim 12 wherein the AV scans the scan area by travelling to waypoints within the scan area.
18
14. A controller as in claim 12 or 13 wherein the AVC employs a digitized geospatial representation that provides absolute position of the AV in creating the scan area or provides relative position through the use of an ad hoc grid.
15. A controller as in any of claims 1-14 wherein the processing unit further includes a central- processing unit, memory and storage, communication ports, or an antennae.
16. A controller as in claim 15 wherein the storage includes a removable data storage so that stored data can be retrieved in the absence of wireline or wireless communications network and wherein the sensor array includes a sensor that is a solid state device based on MEMS technology.
17. A controller as in any of claims 1-16 wherein the AVC includes a mechanism for receiving communication from a cellular phone or the internet such that a user can communicate with the AVC through the mechanism.
19
PCT/US2007/079008 2006-09-22 2007-09-20 Autonomous vehicle controller WO2008036805A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP07842871A EP2064605A1 (en) 2006-09-22 2007-09-20 Autonomous vehicle controller
CA002663927A CA2663927A1 (en) 2006-09-22 2007-09-20 Autonomous vehicle controller

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US82664106P 2006-09-22 2006-09-22
US60/826,641 2006-09-22
US11/857,700 2007-09-19
US11/857,700 US20080262669A1 (en) 2006-09-22 2007-09-19 Autonomous vehicle controller

Publications (2)

Publication Number Publication Date
WO2008036805A1 WO2008036805A1 (en) 2008-03-27
WO2008036805B1 true WO2008036805B1 (en) 2008-05-29

Family

ID=38965602

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/079008 WO2008036805A1 (en) 2006-09-22 2007-09-20 Autonomous vehicle controller

Country Status (4)

Country Link
US (1) US20080262669A1 (en)
EP (1) EP2064605A1 (en)
CA (1) CA2663927A1 (en)
WO (1) WO2008036805A1 (en)

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