Collaborative vehicle control using both human operator and automated controller input

摘要

Control of a vehicle to perform a task employs first control input provided by a human operator and second control input provided by an automated controller. A relationship between the first control input and the second control input is determined. Either the first control input or the second control input is used to control the vehicle to perform the task based on the determined relationship. An indicator may be used to indicate to the operator when the control input provided by the human operator is being used to control the vehicle.

主权项

1. A method of controlling a vehicle, comprising:
obtaining, by a processor unit, a first control input, wherein the first control input is relative to a manual input provided by a human operator; obtaining, by the processor unit, a number of sensor inputs, wherein the number of sensor inputs indicate a state of the vehicle; generating, by the processor unit, a second control input using the number of sensor inputs; determining, by the processor unit, a relationship between the first control input and the second control input; selecting, by the processor unit, one of the first control input and the second control input based on the determined relationship between the first control input and the second control input; responsive to selecting the first control input, using the manual input provided by the human operator to control the vehicle; and responsive to selecting the second control input, using the second control input to control the vehicle.