EP-4735318-A2 - OPERATOR INSTIGATED FALSE POSITIVE MUTING FOR AUTONOMOUS VEHICLES

Abstract

An autonomous vehicle system and method is disclosed that allows an operator to override a stop command issued from an obstacle detection and avoidance subsystem of the autonomous vehicle. Most autonomous vehicles include an obstacle detection and avoidance subsystem that detects potential obstacles along the path of the autonomous vehicle and may send a command to stop the autonomous vehicle. When the obstacle detection and avoidance subsystem detects a potential obstacle (regardless of whether the potential obstacle does or does not exist) and the path is still traversable, the autonomous vehicle may still stop unnecessarily. The disclosed system and methods will allow an operator to override commands issued by the obstacle detection and avoidance subsystem and allow the autonomous vehicle to continue along the path regardless of any potential obstacle.

Inventors

• WINWARD, GARRETT
• MERKLEY, Nathan
• BYBEE, Taylor
• MORWOOD, Daniel
• BAKER, Levi
• CALL, Benjamin
• FERRIN, JEFF
• BAILIO, BRAD
• HOYT, Richard

Assignees

• Autonomous Solutions, Inc.

Dates

Publication Date

20260506

Application Date

20240627

Claims (20)

1. 1. An autonomous vehicle comprising: a communication interface that receives a path from a base station; a controller that operates a breaking subsystem, a speed control subsystem, and a steering subsystem to direct the autonomous vehicle along the path at a first speed; a sensor array that senses an external environment to produce sensor data; an obstacle detection and avoidance subsystem that identifies a potential obstacle in the path from the sensor data; wherein: the controller sends a stop command to the breaking subsystem and/or the speed control subsystem to decelerate the autonomous vehicle prior to reaching the obstacle; the controller sends an obstacle message to the base station via the communication interface, wherein the obstacle message includes the location of the obstacle; the controller receives an override message from the base station via the communication interface; and in response to receiving the override message, the controller using the breaking subsystem, speed control subsystem, and steering subsystem directs the autonomous vehicle along the path at a first speed.
2. 2. The autonomous vehicle according to claim 1, wherein the controller sends a stop command to the breaking subsystem and/or the speed control subsystem to stop the autonomous vehicle prior to reaching the obstacle.
3. 3. The autonomous vehicle according to claim 1, wherein the obstacle message includes at least a portion of the sensor data.
4. 4. The autonomous vehicle according to claim 1, wherein the second speed is substantially lower than the first speed.
5. 5. The autonomous vehicle according to claim 1, wherein the second speed is less than 5 miles per hour.
6. 6. The autonomous vehicle according to claim 1, wherein the controller repeatedly receives the override message from the base station via the communication interface, and while the controller is repeatedly receiving the override message, the controller using the breaking subsystem, speed control subsystem, and steering subsystem directs the autonomous vehicle along the path at a first speed.
7. 7. The autonomous vehicle according to claim 6, wherein if the controller stops receiving the override message from the base station via the communication interface, the controller sends a command to the breaking subsystem and/or the speed control subsystem to decelerate the autonomous vehicle prior to reaching the obstacle.
8. 8. A method executing at an autonomous vehicle comprising: receiving a path from a base station; operating the autonomous vehicle along the path; sensing the external environment to produce sensor data; identifying a location of a potential obstacle along the path from the sensor data; decelerating the autonomous vehicle prior to reaching the obstacle; sending an obstacle message to a base station, wherein the obstacle message includes the location of the obstacle; receiving an override message from the base station; and in response to receiving the override message, operating the autonomous vehicle along the path.
9. 9. The method according to claim 8, wherein the controller sends a stop command to the breaking subsystem and/or the speed control subsystem to stop the autonomous vehicle prior to reaching the obstacle.
10. 10. The method according to claim 8, wherein the obstacle message includes at least a portion of the sensor data.
11. 11. The method according to claim 8, wherein the second speed is substantially lower than the first speed.
12. 12. The method according to claim 8, wherein the second speed is less than 5 miles per hour.
13. 13. The method according to claim 8, wherein the controller repeatedly receives the override message from the base station via the communication interface, and while the controller is repeatedly receiving the override message, the controller using the breaking subsystem, speed control subsystem, and steering subsystem directs the autonomous vehicle along the path at a first speed.
14. 14. The method according to claim 8, wherein if the controller stops receiving the override message from the base station via the communication interface, the controller sends a command to the breaking subsystem and/or the speed control subsystem to decelerate the autonomous vehicle prior to reaching the obstacle.
15. 15. The method according to claim 8, wherein the autonomous vehicle according to claim 6, wherein the controller sends a stop command to the breaking subsystem and/or the speed control subsystem to stop the autonomous vehicle prior to reaching the obstacle.
16. 16. The method according to claim 8, further comprising receiving the obstacle message at the base station; providing information about the potential obstacle on an operator interface and providing an override button on the operator interface; receiving an indication from the operator interface that an operator has interacted with the override button; and in response to receiving an indication from the operator, sending an override message to the autonomous vehicle.
17. 17. An autonomous vehicle comprising: a sensor array that produces sensor data; a transceiver that communicates with and receives data from at least a base station; a speed control subsystem that controls the speed of the autonomous vehicle; a steering control subsystem that controls the steering of the autonomous vehicle; and a controller communicatively coupled with the sensor array, the transceiver, the speed control subsystem, and the steering control subsystem the controller has code that: receives a path from the base station via the transceiver; sends commands to the steering control subsystem and the speed control subsystem that when executed move the autonomous vehicle at a first speed along the path within an external environment; senses the external environment to produce sensor data; identifies a location of a potential obstacle along the path from the sensor data; sends commands to the speed control subsystem to stop the autonomous vehicle prior to reaching the obstacle; sends an obstacle message to a base station, wherein the obstacle message includes the location of the obstacle and at least a portion of the sensor data; receives an override message from the base station via the transceiver; and in response to receiving the override message, sends commands to the steering control system and the speed control system that when executed move the autonomous vehicle along the path at a second speed, wherein the second speed is substantially lower than the first speed.
18. 18. The autonomous vehicle according to claim 17, wherein the second speed is less than 5 miles per hour.
19. 19. The autonomous vehicle according to claim 17, wherein the controller repeatedly receives the override message from the base station via the communication interface, and while the controller is repeatedly receiving the override message, the controller using the breaking subsystem, speed control subsystem, and steering subsystem directs the autonomous vehicle along the path at a first speed.
20. 20. The autonomous vehicle according to claim 19, wherein if the controller stops receiving the override message from the base station via the communication interface, the controller sends a command to the breaking subsystem and/or the speed control subsystem to decelerate the autonomous vehicle prior to reaching the obstacle.

Description

Operator Instigated False Positive Muting for Autonomous Vehicles BACKGROUND An autonomous vehicle may follow a path through an external environment. The autonomous vehicle may sense the external environment for any obstacles that may exist along the path. Typically, when an obstacle is found on the path, the autonomous vehicle is programmed to stop, slow, or take some other action until the obstacle can be removed or an updated path can be created. SUMMARY Methods and systems are disclosed for controlling an autonomous vehicle. A method, for example, may include receiving a path from the base station; operating the autonomous vehicle along the path; sensing the external environment to produce sensor data; identifying a location of an obstacle along the path from the sensor data; decelerating the autonomous vehicle prior to reaching the obstacle; sending an obstacle message to abase station, wherein the obstacle message includes the location of the obstacle; receiving an override message from the base station; and in response to receiving the override message, operating the autonomous vehicle along the path past the location of the obstacle. The method may also include operating the autonomous vehicle along a path within an external environment includes moving the autonomous vehicle along the path at a first speed; and operating the autonomous vehicle along the path past the location of the obstacle further comprises moving the autonomous vehicle along the path at a second speed, wherein the second speed is less than the first speed. The obstacle message, for example, includes at least a portion of the sensor data. An autonomous vehicle is also disclosed that may include a transceiver that communicates with and receives data from at least a base station; a speed control system that controls the speed of the autonomous vehicle; a steering control system that controls the steering of the autonomous vehicle; and a controller communicatively coupled with the sensor array, the transceiver, and the speed control system. The controller has code that receives a path from the base station via the transceiver; sends commands to the steering control system and the speed control system that when executed move the autonomous vehicle along the path within an external environment; senses the external environment to produce sensor data; identifies a location of an obstacle along the path from the sensor data; sends commands to the speed control system decelerate the autonomous vehicle prior to reaching the obstacle; sends an obstacle message to a base station, wherein the obstacle message includes the location of the obstacle; receives an override message from the base station via the transceiver; and in response to receiving the override message, sends commands to the steering control system and the speed control system that when executed move the autonomous vehicle along the path past the location of the obstacle. Another example method may include sending a path within an external environment to an autonomous vehicle; receiving an obstacle message from the autonomous vehicle, wherein the obstacle message includes the location of the obstacle; providing an operator interface with an override button; receiving an indication from the operator interface an operator selected the button; and in response to receiving an indication from the operator, sending an override message to the autonomous vehicle. The various embodiments described in the summary and this document are provided not to limit or define the disclosure or the scope of the claims. BRIEF DESCRIPTION OF THE FIGURES FIG. l is a block diagram of a communication and control system for an autonomous vehicle. FIG. 2 is a flowchart of a process for an operator to override the obstacle detection and obstacle avoidance subsystems in an autonomous vehicle. FIG. 3 is a block diagram of a computational system that can be used to with or to perform some embodiments described in this document. DETAILED DESCRIPTION An autonomous vehicle system and method is disclosed that allows an operator to override a stop command issued from an obstacle detection and avoidance subsystem of the autonomous vehicle. Most autonomous vehicles include an obstacle detection and avoidance subsystem that detects potential obstacles along the path of the autonomous vehicle and may send a command to stop the autonomous vehicle. When the obstacle detection and avoidance subsystem detects a potential obstacle (regardless of whether the potential obstacle does or does not exist) and the path is still traversable, the autonomous vehicle may still stop unnecessarily. The disclosed system and methods will allow an operator to override commands issued by the obstacle detection and avoidance subsystem and allow the autonomous vehicle to continue along the path. For example, after an autonomous vehicle stops for an obstacle or identifies an obstacle, the autonomous vehicle may report the obstacle to a bas