Autonomous vehicle and method for coordinating the paths of multiple autonomous vehicles

摘要

A non-transitory processor-readable medium storing code causes a processor at a first vehicle (e.g., a first autonomous vehicle) to generate a first planned path based on a current position of the first vehicle and a mission requirement assigned to the first vehicle. A first planned path associated with a second vehicle (e.g., a second autonomous vehicle), which is based on a current position of the second vehicle and a mission requirement assigned to the second vehicle, is received at the first vehicle. After the first planned path associated with the second vehicle is received, a second planned path is generated based on the first planned path associated with the second vehicle and at least one of the mission requirement assigned to the first vehicle or the first planned path of the first vehicle. The second planned path of the first vehicle is transmitted to the second vehicle.

主权项

1. A non-transitory processor readable medium storing code representing instructions to be executed by a processor, the code comprising code to cause the processor to:
receive, at a first time at a first autonomous vehicle operating at an airport, a first planned ground taxiing path associated with a second autonomous vehicle operating at the airport and including an indication of a priority of the first planned ground taxiing path; determine, at the first autonomous vehicle, that a conflict exists between the first planned ground taxiing path and a second planned ground taxiing path, the second planned ground taxiing path associated with the first autonomous vehicle; in response to determining that the conflict exists, generate, at a second time after the first time and at the first autonomous vehicle and without further coordination with the second autonomous vehicle, a third planned ground taxiing path different from the second planned ground taxiing path, the third planned ground taxiing path resolving the conflict such that the second autonomous vehicle can follow the first planned ground taxiing path, the third planned ground taxiing path generated in response to a priority of the second planned ground taxiing path being lower than the priority of the first planned ground taxiing path; transmit the third planned ground taxiing path at a third time after the second time; rereceive the first planned ground taxiing path at a fourth time after the third time; and cause the first autonomous vehicle to taxi according to the third planned ground taxiing path.