Adaptive autonomy system architecture

Patent metadata

Field	Value
Publication number	US-11429101-B2
Application number	US-201815957003-A
Country	US
Kind code	B2
Filing date	Apr 19, 2018
Priority date	Apr 19, 2018
Publication date	Aug 30, 2022
Grant date	Aug 30, 2022

Abstract

An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list. The task execution module may be configured to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.

First claim

What is claimed is:

1. An autonomy system for use with a vehicle in an environment, the autonomy system comprising:
a processor operatively coupled with a memory device;
a plurality of sensors operatively coupled with the processor;
a vehicle controller;
a situational awareness circuit operatively coupled to the plurality of sensors, wherein the situational awareness circuit is configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors;
a task planning circuit communicatively coupled with the situational awareness circuit,
wherein the task planning circuit is configured to identify, via the processor, a first plurality of tasks to be performed by the vehicle,
wherein the task planning circuit is configured (1) to prioritize a task that would affect a mission of the vehicle and (2) to reduce priority of a task that would not affect the mission,
wherein the task planning circuit is configured to determine periodically, as a function of the state of the environment, a likelihood of success for each of the first plurality of tasks executed in the environment by the vehicle to predict an outcome of each of the first plurality of tasks,
wherein, if the likelihood of success for one or more of the first plurality of tasks is below a predetermined threshold value, the task planning circuit is configured to identify, via the processor, a second plurality of tasks to be performed by the vehicle, and
wherein the task planning circuit is configured to generate, via the processor, a task assignment list from the first or second plurality of tasks that is based at least in part on predetermined optimization criteria;

a rules of engagement and constraint verification circuit coupled to the task planning circuit and configured to determine if any task of the first plurality of tasks or the second plurality of tasks violates one or more predetermined constraints; and
a task execution circuit operatively coupled with the vehicle controller, wherein the task execution circuit is configured to instruct the vehicle controller to execute the first or second plurality of tasks in accordance with the task assignment list if the respective plurality of tasks does not violate the one or more predetermined constraints, wherein the task execution circuit is configured to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.

2. The autonomy system of claim 1 , wherein the vehicle is an aircraft and the vehicle controller is a flight controller, wherein flight controller is configured to control one or more thrust generators or one or more actuators in accordance with the task assignment list.

3. The autonomy system of claim 1 , further comprising a task consensus circuit to analyze the task assignment list of the vehicle vis-à-vis a second task assignment list associated with a second vehicle that is equipped with an autonomy system, wherein the second task assignment list comprises a third plurality of tasks and wherein the task consensus circuit is configured to adjust the task assignment list based at least in part on the second task assignment list.

4. The autonomy system of claim 3 , wherein the task consensus circuit is configured to adjust the task assignment list based at least in part on the second task assignment list to maximize overall efficiency of the vehicle and the second vehicle in performing a collaborative objective.

5. The autonomy system of claim 4 , wherein the task consensus circuit is configured to reallocate tasks between the task assignment list and the second task assignment list.

6. The autonomy system of claim 1 , wherein the predetermined optimization criteria is updated based at least in part on results from execution of the task assignment list.

7. The autonomy system of claim 4 , wherein the task consensus circuit is configured to reorder said first or second plurality of tasks based at least in part on the second task assignment list or the task assignment list.

8. The autonomy system of claim 3 , wherein the first or second plurality of tasks and the third plurality of tasks overlap at least in part.

9. The autonomy system of claim 8 , wherein overlapping tasks are removed from either the task assignment list or the second task assignment list.

10. The autonomy system of claim 1 , further comprising a human-machine interface to provide a communication interface between the autonomy system and a user.

11. The autonomy system of claim 10 , wherein the human-machine interface enables a user to modify the task assignment list.

12. The autonomy system of claim 1 , wherein the vehicle controller is configured to navigate the vehicle based at least in part on the task assignment list.

13. The autonomy system of claim 12 , wherein the task assignment list is configured to instruct the vehicle to travel from a first location to a second location, perform an operation at the second location, and return to the first location from the second location upon completion of the operation.

14. The autonomy system of claim 1 , wherein the memory device comprises an interchangeable library of code to provide autonomy, regardless of vehicle type.

15. A method of operating a vehicle having an autonomy system in an environment, the method comprising:
determining a state of the environment based at least in part on sensor data from at least one of a plurality of sensors coupled to the vehicle;
identifying, via a processor, a first plurality of tasks to be performed by the vehicle;
periodically determining, as a function of the state of the environment, a likelihood of success for each of the first plurality of tasks executed in the environment by the vehicle to predict an outcome of each of the first plurality of tasks;
if the likelihood of success for one or more of the first plurality of tasks is below a predetermined threshold value, identifying, via the processor, a second plurality of tasks to be performed by the vehicle, wherein the predetermined threshold value reflects a likelihood that a deployable object will reach a target based on its release at an altitude, a heading, or a vehicle speed;
generating, via the processor, a task assignment list from the first or second plurality of tasks that is based at least in part on predetermined optimization criteria;
determining, via the processor, if any task of the first plurality of tasks or the second plurality of tasks violates one or more predetermined constraints;
instructing a vehicle controller of the vehicle to execute the first or second plurality of tasks in accordance with the task assignment list if the respective plurality of tasks does not violate the one or more predetermined constraints; and
monitoring the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.

16. The method of claim 15 , wherein the vehicle is an aircraft and the vehicle controller is a flight controller, wherein flight controller is configured to control one or more thrust generators or one or more actuators in accordance with the task assignment list.

17. The method of claim 15 , further comprising the steps of: analyzing the task assignment list of the vehicle vis-à-vis a second task assignment list associated with a second vehicle that is equipped with an autonomy system, wherein the second task assignment list comprises a third plurality of tasks; and adjusting the task assignment list based at least in part on a second task assignment list.

Assignees

• Aurora Flight Sciences Corp

Inventors

• Ryan Jason
• Saunders Jeffery

Classifications

• B64U2201/10

  autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] · CPC title

• B64U2201/20

  Remote controls · CPC title

• B64U2201/00

  UAVs characterised by their flight controls · CPC title

• B64U10/25

  Fixed-wing aircraft (VTOL aircraft B64U10/20) · CPC title

• G05B2219/25347

  Multitasking machine control · CPC title