System and method for autonomous vehicle communications protocols

Patent metadata

Field	Value
Publication number	US-9952596-B2
Application number	US-201615179762-A
Country	US
Kind code	B2
Filing date	Jun 10, 2016
Priority date	Jun 10, 2016
Publication date	Apr 24, 2018
Grant date	Apr 24, 2018

Abstract

In an embodiment, an autonomous vehicle system includes an autonomous vehicle. The autonomous vehicle includes a communications system configured to communicate with the base station, and a control system communicatively coupled to the communications system, the control system comprising a processor. The processor is configured to receive driving commands from the base station, execute the driving commands to drive the autonomous vehicle, and execute a vehicle controller-to-subsystems latency protocol to determine a communications latency between a vehicle controller and vehicle subsystems, and to stop the autonomous vehicle if the communications latency exceeds a user-configurable latency value, wherein the vehicle controller and vehicle subsystem are disposed in the autonomous vehicle.

First claim

The invention claimed is:

1. An autonomous vehicle system, comprising:
an autonomous vehicle, comprising:
a communications system configured to communicate with a base station;
a control system communicatively coupled to the communications system, the control system comprising a processor configured to:
receive driving commands from the base station;
execute the driving commands to drive the autonomous vehicle;
execute a vehicle controller-to-subsystems latency protocol to determine a communications latency between a vehicle controller and vehicle subsystems, and to stop the autonomous vehicle if the communications latency exceeds a user-configurable latency value, wherein the vehicle controller and vehicle subsystem are disposed in the autonomous vehicle; and
execute a base station-to-vehicle latency protocol to determine a second communications latency between the autonomous vehicle and the base station, and to stop the autonomous vehicle if the second communications latency exceeds a user-configurable second latency value, wherein the base station is disposed external to the autonomous vehicle.

2. The system of claim 1 , wherein the processor is configured to execute the vehicle controller-to-subsystems latency protocol by executing a heartbeat process deriving a time of receipt of messages between the vehicle controller and the vehicle subsystems.

3. The system of claim 1 , wherein the processor is configured to execute the base station-to-vehicle latency protocol by executing a second heartbeat process timing a receipt of messages between the communications system and the base station.

4. The system of claim 1 , wherein the autonomous vehicle comprises a CAN bus communicatively coupling the vehicle controller and the vehicle subsystems.

5. The system of claim 4 , wherein the vehicle subsystems comprise a steering system, a throttle system, a transmission system, or a combination thereof.

6. The system of claim 1 , wherein the processor is configured to execute an operator exit protocol after an operator exits the vehicle to stop operations of the autonomous vehicle.

7. The system of claim 6 , wherein the processor is configured to execute the operator exit protocol via a timing process, via an operator sensing process, or a combination thereof.

8. The system of claim 1 , wherein the autonomous vehicle comprises a spatial location system configured to derive a geographic location of the autonomous vehicle, wherein the processor is configured to execute a geographic communications protocol configured to stop the autonomous vehicle if the autonomous vehicle is outside of a geographic area or if the geographic location experiences hopping.

9. A method, comprising:
communicating driving commands from a base station;
executing the driving commands to drive an autonomous vehicle;
executing a vehicle controller-to-subsystems latency protocol to determine a communications latency between a vehicle controller and vehicle subsystems, and to stop the autonomous vehicle if the communications latency exceeds a user-configurable latency value, wherein the vehicle controller and vehicle subsystem are disposed in the autonomous vehicle; and
executing a base station-to-vehicle latency protocol to determine a second communications latency between the autonomous vehicle and the base station, and to stop the autonomous vehicle if the second communications latency exceeds a user-configurable second latency value, wherein the base station is disposed external to the autonomous vehicle.

10. The method of claim 9 , wherein the executing the base station-to-vehicle latency protocol comprises using a base station processor to execute the base station-to-vehicle latency protocol, using a vehicle processor to execute the base station-to-vehicle latency protocol, or a combination thereof.

11. The method of claim 9 , wherein executing the vehicle controller-to-subsystems latency protocol comprises executing a heartbeat process deriving a time of receipt of messages between the vehicle controller and the vehicle subsystems.

12. The method of claim 9 , comprising executing an operator exit protocol, via an autonomous vehicle processor, after an operator exits the vehicle to stop operations of the autonomous vehicle.

13. The method of claim 9 , comprising deriving, via a spatial location system disposed in the autonomous vehicle, a geographic location of the autonomous vehicle, and executing a geographic communications protocol configured to stop the autonomous vehicle if the autonomous vehicle is outside of a geographic area or if the geographic location experiences hopping.

14. A non-transitory, computer readable medium comprising instructions that when executed by a processor cause the processor to:
receive driving commands from a base station;
execute the driving commands to drive an autonomous vehicle;
execute a vehicle controller-to-subsystems latency protocol to determine a communications latency between a vehicle controller and vehicle subsystems, and to stop the autonomous vehicle if the communications latency exceeds a user-configurable latency value, wherein the vehicle controller and vehicle subsystem are disposed in the autonomous vehicle; and
execute a base station-to-vehicle latency protocol to determine a second communications latency between the autonomous vehicle and the base station, and to stop the autonomous vehicle if the second communications latency exceeds a user-configurable second latency value, wherein the base station is disposed in a location external to the autonomous vehicle.

15. The non-transitory, computer readable medium of claim 14 , comprising instructions that when executed by the processor, cause the processor to derive, via a spatial location system disposed in the autonomous vehicle, a geographic location of the autonomous vehicle, and execute a geographic communications protocol configured to stop the autonomous vehicle if the autonomous vehicle is outside of a geographic area or if the geographic location experiences hopping.

16. The non-transitory, computer readable medium of claim 14 , comprising instructions that when executed by the processor, cause the processor to execute an operator exit protocol, via an autonomous vehicle processor, after an operator exits the vehicle to stop operations of the autonomous vehicle.

17. The non-transitory, computer readable medium of claim 16 , comprising instructions that when executed by the processor, cause the processor to execute the operator exit protocol via a timing process, via an operator sensing process, or a combination thereof.

Assignees

• Cnh Ind America Llc
• Autonomous Solutions Inc

Inventors

• Foster Christopher Alan
• Turpin Bret Todd
• Morwood Daniel John

Classifications

• H04L12/40

  Bus networks · CPC title

• H04L69/26

  Special purpose or proprietary protocols or architectures (network applications for proprietary or special purpose networking environments H04L67/12) · CPC title

• H04L67/12

  specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks · CPC title

• H04L2012/40215

  Controller Area Network CAN · CPC title

• A01B69/00

  Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track · CPC title