Systems and methods for multi-modal control of a vehicle

摘要

System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.

主权项

1. A vehicle capable of manned operation, the vehicle comprising:
(a) a first subsystem, comprising:
a computing medium having computer readable code embodied therein for selectively controlling the vehicle, the computer readable code comprising:
(i) code for enabling the vehicle to be remotely controlled by an operator not physically present in the vehicle;(ii) code for causing the vehicle to be autonomously controlled without operator intervention; and(iii) code for enabling autonomous operation of a first vehicle feature in combination with remote operator control of a second vehicle feature; and (b) a second subsystem in electrical communication with the first subsystem, the second subsystem comprising:
a plurality of actuators for manipulating one or more devices of the vehicle; anda controller for controlling at least one actuator in response to an instruction received from the computing medium,wherein the controller, in response to an instruction generated by the code for enabling autonomous operation of the first vehicle feature in combination with remote operator control of the second vehicle feature, autonomously controls a first set of at least one actuator and contemporaneously controls a second set of at least one actuator in accordance with at least one remote transmission received from a tele-operator.