System and method for autonomous decision making, corrective action, and navigation in a dynamically changing world

Patent metadata

Field	Value
Publication number	US-12487597-B2
Application number	US-202318181350-A
Country	US
Kind code	B2
Filing date	Mar 9, 2023
Priority date	Jan 31, 2018
Publication date	Dec 2, 2025
Grant date	Dec 2, 2025

Abstract

An autonomous vehicle system includes a body and a plurality of sensors coupled to the body and configured to generate a plurality of sensor measurements corresponding to the plurality of sensors. The system also includes a control unit configured to: receive inputs from a plurality of sources wherein the plurality sources comprise the plurality of sensors, the inputs comprise the plurality of sensor measurements; determine a confidence level of each input based on other inputs; prioritize, based on the confidence level associated with each input, the inputs; generate, based on the prioritization of the inputs and the confidence level, a combined input with a combined confidence level; and determine, based on the combined input and the combined confidence level, a mission task to be performed.

First claim

What is claimed is:

1 . An autonomous vehicle system for controlling an autonomous vehicle, comprising:
a plurality of sensors configured to generate a plurality of sensor measurements corresponding to the plurality of sensors; and a control unit configured to:
receive inputs from the plurality of sensors, wherein the inputs comprise the plurality of sensor measurements;
receive logical information indicating situations in which the plurality of sensors are operating;
determine a mission requirement associated with a mission task to be performed by the autonomous vehicle;
for each respective sensor of the plurality of sensors,
determine, based on the logical information, a risk level associated with a situation in which the respective sensor is operating,
determine, based on the logical information, a precision level associated with the respective sensor,
determine, based on the logical information, an operational condition associated with the situation in which the respective sensor is operating,
select one of the risk level, the precision level or the operational condition as a ranking criterion for the plurality of sensors based on the mission requirement, and
generate a confidence level of each input received from the respective sensor based on the ranking criterion;

prioritize, based on the confidence level associated with each input, the inputs;
generate, based on the prioritization of the inputs and respective confidence levels, a combined input; and
control the autonomous vehicle to perform the mission task based on the combined input and the situations.

2 . The system of claim 1 , wherein the autonomous vehicle is an automatic guided vehicle or an unmanned aerial vehicle.

3 . The system of claim 1 , wherein the plurality of sensors include at least one of: a laser altimeter, a global positioning system (GPS), a light detection and ranging (LIDAR) system, a radio detecting and ranging (RADAR) system, a transponder, an optic sensor, or an automatic dependent surveillance broadcast (ADSB) sensor.

4 . The system of claim 1 , wherein the logical information is received from at least one of: a flight controller, a flight system, a real time kinematic (RTK) satellite navigation, unmanned traffic management (UTM), an air traffic controller (ATC), command and Control (C2), geofence, a weather monitor, aircraft capabilities and limitations, accelerometer, magnetometer, gyroscope, faulty equipment, waypoints and routes, delivery destinations, user inputs, Internet connectivity, satellite connectivity, invalidated communications, or communication with other autonomous vehicles.

5 . The system of claim 1 , wherein the inputs further comprise historical data stored in a database.

6 . The system of claim 1 , wherein the control unit is further configured to group, based on a measurement type, the inputs.

7 . The system of claim 1 , wherein the mission task to be performed comprises at least one of: forced landing of the autonomous vehicle, disabling one or more of the plurality of sensors, changing a route of the autonomous vehicle, beaconing an emergency status, or performing a desired flight maneuver of the autonomous vehicle.

8 . The system of claim 1 , wherein the control unit is further configured to:
identify a primary input received from a primary sensor of the plurality of sensors; and replace, based on the situation in which the primary sensor is operating, the primary input with a secondary input received from another autonomous vehicle.

9 . The system of claim 8 , wherein:
the primary input is replaced with the secondary input based on confidence levels of the primary input and the secondary input.

10 . The system of claim 1 , wherein:
the control unit is further configured to validate each input by checking for a trusted certificate associated with the input; and the trusted certificate is received from at least one of: a flight controller, a flight system, a laser altimeter, GPS, differential GPS, RTK, optic sensors, LIDAR, RADAR, ADSB sensors and transponders, unmanned traffic management (UTM), air traffic controller (ATC), command and control (C2), geofence, weather monitor, or aircraft capabilities and limitations.

11 . The system of claim 1 , wherein the confidence level comprises a binary code that includes a matrix of binary code entries.

12 . A method for controlling an autonomous vehicle, comprising:
receiving inputs from a plurality of sensors, wherein the inputs comprise a plurality of sensor measurements; receiving logical information indicating situations in which the plurality of sensors are operating; determining a mission requirement associated with a mission task to be performed by the autonomous vehicle; for each respective sensor of the plurality of sensors,
determining, based on the logical information, a risk level associated with a situation in which the respective sensor is operating,
determining, based on the logical information, a precision level associated with the respective sensor,
determining, based on the logical information, an operational condition associated with the situation in which the respective sensor is operating,
selecting one of the risk level, the precision level or the operational condition as a ranking criterion for the plurality of sensors based on the mission requirement, and
generating a confidence level of each input received from the respective sensor based on the ranking criterion;
prioritizing, based on the confidence level associated with each input, the inputs; generating, based on the prioritization of the inputs and respective confidence levels, a combined input; and controlling the autonomous vehicle to perform the mission task based on the combined input and the situations.

13 . The method of claim 12 , wherein the mission task to be performed comprises at least one of: forced landing of the autonomous vehicle, disabling one or more of the plurality of sensors, changing a route of the autonomous vehicle, beaconing an emergency status, or performing a desired flight maneuver of the autonomous vehicle.

14 . The method of claim 12 , further comprising:
identifying a primary input received from a primary sensor of the plurality of sensors; and replacing, based on the situation in which the primary sensor is operating, the primary input with a secondary input received from another autonomous vehicle.

15 . The method of claim 14 , wherein:
the primary input is replaced with the secondary input based on confidence levels of the primary input and the secondary input.

16 . The method of claim 12 , further comprising validating each input by checking for a trusted certificate associated with the input,
wherein the trusted certificate is received from at least one of: a flight controller, a flight system, a laser altimeter, GPS, differential GPS, RTK, optic sensors, LIDAR, RADAR, ADSB sensors and transponders, unmanned traffic management (UTM), air traffic controller (ATC), command and control (C2), geofence, weather monitor, or aircraft capabilities and limitations.

17 . An apparatus for controlling an autonomous vehicle, comprising:
a non-transitory memory having instructions stored thereon; and a processor configured to read the instructions to:
receive inputs from a plurality of sensors, wherein the inputs comprise a plurality of sensor measurements;
receive logical information indicating situations in which the plurality of sensors are operating;
determine a mission requirement associated with a mission task to be performed by th

Assignees

• Walmart Apollo Llc

Inventors

• O'Brien John J
• High Donald R
• Mchale Brian
• Winkle David

Classifications

• G06N5/04

  Inference or reasoning models · CPC title

• B64D45/00

  Aircraft indicators or protectors not otherwise provided for · CPC title

• B64U2201/104

  using satellite radio beacon positioning systems, e.g. GPS · CPC title

• G08G5/723

  from the aircraft · CPC title

• G08G5/76

  for monitoring atmospheric conditions · CPC title