Control of the autonomous mode of bimodal vehicles

Patent metadata

Field	Value
Publication number	US-9317033-B2
Application number	US-201214365941-A
Country	US
Kind code	B2
Filing date	Dec 6, 2012
Priority date	Dec 16, 2011
Publication date	Apr 19, 2016
Grant date	Apr 19, 2016

Abstract

A control of autonomous vehicles, and a method for controlling at least one autonomous ground vehicle configured to adopt two operating modes, including a manual mode in which the driving depends on driving instructions from the driver of the vehicle, and an autonomous mode, in which the driving depends on data received from sensors configured to provide information on surroundings of the vehicle, and on data received by a navigation system, the method including: authorizing the autonomous mode only when the vehicle is within an area determined by defined boundaries; receiving reservation data from a user interface; generating a set message to be transmitted to the vehicle in accordance with the received reservation data; and transmitting the set message to the vehicle such that the vehicle autonomously performs a movement corresponding to the transmitted set message.

First claim

The invention claimed is:

1. A method of control of a terrestrial vehicle configured to adopt two modes of operation, the modes including: a manual mode, in which driving is dependent on vehicle driver commands, and an autonomous mode, in which driving is dependent on data received from sensors configured to provide information about an environment of the terrestrial vehicle and on data received from a navigation system, the method comprising:
authorizing the autonomous mode only when the terrestrial vehicle is situated within a site determined by defined boundaries;
receiving booking data from a user interface;
formulating a directive message to be transmitted to the terrestrial vehicle as a function of the received booking data; and
transmitting the directive message to the terrestrial vehicle so that the terrestrial vehicle autonomously moves in correspondence with the transmitted directive message,
wherein the transmitted directive message includes information relating to a user for the terrestrial vehicle.

2. The method as claimed in claim 1 , wherein information comprising a battery state of charge of the terrestrial vehicle makes it possible to cause the terrestrial vehicle to go to a recharging facility autonomously.

3. The method as claimed in claim 1 , wherein the transmitted directive message includes a destination address and/or a movement data.

4. The method as claimed in claim 1 , wherein the transmitted directive message includes information relating to a profile of a circuit to be traveled by the terrestrial vehicle in the autonomous mode.

5. The method as claimed in claim 1 , further comprising, for the terrestrial vehicle when in the autonomous mode:
detecting a possible malfunction of the terrestrial vehicle; and
emitting an alarm signal in case of detection of malfunction.

6. The method as claimed in claim 1 , further comprising:
receiving at least one item of state information regarding the terrestrial vehicle; and
formulating the directive message to be transmitted to the terrestrial vehicle as a function of the received at least one item of state information.

7. The method as claimed in claim 6 , further comprising:
storing in memory vehicle state information logged subsequent to the receiving the at least one item of state information regarding the terrestrial vehicle.

8. The method as claimed in claim 1 , wherein said transmitting the directive message is performed for each of a plurality of terrestrial vehicles of an assembly of terrestrial vehicles, including said autonomous terrestrial vehicle, configured to adopt the manual and autonomous modes of operation, the method further comprising:
estimating a desired spatial distribution of the assembly of terrestrial vehicles, the directive message to be transmitted to the terrestrial vehicle being formulated as a function of the estimated distribution.

9. A non-transitory computer readable medium storing a computer program product comprising instructions, that when executed by a processor, cause performance of a method of control of a terrestrial vehicle configured to adopt two modes of operation, the modes including a manual mode, in which driving is dependent on vehicle driver commands, and an autonomous mode, in which driving is dependent on data received from sensors configured to provide information about an environment of the terrestrial vehicle and on data received from a navigation system, the method comprising:
authorizing the autonomous mode only when the terrestrial vehicle is situated within a site determined by defined boundaries;
receiving booking data from a user interface;
formulating a directive message to be transmitted to the terrestrial vehicle as a function of the received booking data; and
transmitting the directive message to the terrestrial vehicle so that the terrestrial vehicle autonomously moves in correspondence with to the transmitted directive message,
wherein the transmitted directive message includes information relating to a user for the terrestrial vehicle.

10. A device for control of a terrestrial vehicle configured to adopt two modes of operation, the modes including: a manual mode, in which driving is dependent on vehicle driver commands, and an autonomous mode, in which driving is dependent on data received from sensors configured to provide information about an environment of the terrestrial vehicle and on data received from a navigation system, the device comprising:
memory; and
a processor configured to:
authorize the autonomous mode only when the terrestrial vehicle is situated within a site determined by defined boundaries,
formulate a directive message to be transmitted to the terrestrial vehicle as a function of booking data,
communicate with a user interface that receives the booking data, and
transmit the directive message to the terrestrial vehicle so that the terrestrial vehicle autonomously moves in correspondence with the transmitted directive message,
wherein the transmitted directive message includes information relating to a user for the terrestrial vehicle.

11. The control device as claimed in claim 10 , wherein the transmitted message includes a destination address, information relating to a profile of a circuit to be traveled by the terrestrial vehicle in the autonomous mode and/or movement data.

12. The control device as claimed in claim 10 , wherein the processor is configured to:
transmit directive messages to at least one terrestrial vehicle of an assembly of terrestrial vehicles, including said autonomous vehicle, so that said autonomous terrestrial vehicle autonomously moves in correspondence with the transmitted directive message,
assist the terrestrial vehicles in their movements when the terrestrial vehicles are in the autonomous mode, and
optimize a spatial distribution of the terrestrial vehicles within the site.

13. The control device as claimed in claim 12 , wherein the processor allows an observer to move the terrestrial vehicle remotely.

14. The control device as claimed in claim 12 , wherein the processor is equipped to signal remotely a presence of an emergency service vehicle in proximity to the terrestrial vehicle.

15. The control device as claimed in claim 12 , wherein the processor is equipped to signal remotely a presence of an obstacle obstructing a path to be traveled by the terrestrial vehicle in the autonomous mode.

16. The control device as claimed in claim 12 , wherein the control device is configured to manage one or more other vehicles of the assembly of terrestrial vehicles in addition to the terrestrial vehicle, and/or equipment of the site in communication with the control device, comprising sensors installed at the site constituting an ecosystem.

Assignees

• Renault Sas

Inventors

• Ibanez-Guzman Javier
• Minoiu-Enache Nicoleta
• Chale Gongora Hugo Guillermo
• Lesaing Jean
• Chauveau Francois

Classifications

• B60W60/0025

  specially adapted for specific operations · CPC title

• H04L67/125

  involving control of end-device applications over a network · CPC title

• G05D2109/13

  with only one or two wheels, e.g. motor bikes or inverted pendulums · CPC title

• G05D2101/10

  using artificial intelligence [AI] techniques · CPC title

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title