WO2017127596A1 - Système et procédé de traitement électronique sécurisé de commandes à action directe pour véhicules autonomes - Google Patents

Système et procédé de traitement électronique sécurisé de commandes à action directe pour véhicules autonomes Download PDF

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Publication number
WO2017127596A1
WO2017127596A1 PCT/US2017/014215 US2017014215W WO2017127596A1 WO 2017127596 A1 WO2017127596 A1 WO 2017127596A1 US 2017014215 W US2017014215 W US 2017014215W WO 2017127596 A1 WO2017127596 A1 WO 2017127596A1
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WO
WIPO (PCT)
Prior art keywords
navigation
safety
vehicle
platform
limited
Prior art date
Application number
PCT/US2017/014215
Other languages
English (en)
Inventor
David Wayne RUSSELL
Original Assignee
Russell David Wayne
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Russell David Wayne filed Critical Russell David Wayne
Publication of WO2017127596A1 publication Critical patent/WO2017127596A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • B64U70/80—Vertical take-off or landing, e.g. using rockets
    • B64U70/83—Vertical take-off or landing, e.g. using rockets using parachutes, balloons or the like
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0034—Assembly of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/003—Flight plan management
    • G08G5/0039—Modification of a flight plan
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/006—Navigation or guidance aids for a single aircraft in accordance with predefined flight zones, e.g. to avoid prohibited zones
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/0047—Navigation or guidance aids for a single aircraft
    • G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
    • G08G5/04—Anti-collision systems
    • G08G5/045—Navigation or guidance aids, e.g. determination of anti-collision manoeuvers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D2201/00—Airbags mounted in aircraft for any use
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • B64U2201/104—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS] using satellite radio beacon positioning systems, e.g. GPS

Definitions

  • This invention is primarily concerned with providing a system and methodology for the creation of a VCS that is designed from first principles with the safety of humans in mind. To accomplish this we must first have a working definition of what safety means in the autonomous vehicle environment. Secondly, an architecture and methodology must be devised which meets both the required definition of safety and the functional needs of an autonomous vehicle. [0003] For the purposes of autonomous vehicles, one definition of safety would encompass three major traits: First, the safety of the general populace in the Area of Operation must be paramount, and may be designed to functional safety specifications such as IEC61805. Second, high accuracy in following detailed precomputed navigation is required combined with a methodology of confirming the platform is operating within a known safe corridor. Finally, safety mechanisms to mitigate terminal velocity and/or mitigate impact force of the platform should be included in the worst case scenario.
  • FIG. 1 the diagram depicts the components of one possible embodiment of a vehicle control system.
  • the sensor suite contains one or more 3D camera imaging systems 100 which may be attached to a pan/tilt/zoom configurable platform or in other embodiments multiple imaging systems of differing type, capability and mix of fixed or moveable mounts may be deployed simultaneously to provide better situational awareness.
  • These imagers may rely for example on different techniques such as but not limited to IR, visible light, or RF or IR beacons, audio location systems, 3D model landmarks, cellular tower or known aircraft navigation bearings.
  • VIGO receives possibly interpolated sensor data from physical altitude and attitude sensors 180, controls and defined motor, control surface, and ducted fan gimbal settings 190. In other embodiments VIGO could control land-based, surface or subsurface vehicles with different motor types and control surfaces.
  • each block in the flowcharts or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function or functions.
  • the functions noted in a block may occur out of the order noted in the figures. For example, the functions of two blocks shown in succession may be executed substantially concurrently, or the functions of the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Abstract

Pour que les véhicules autonomes sans pilote (UAV) puissent être utilisés à proximité immédiate des êtres humains, ils doivent avant tout être totalement sûrs. La présente invention concerne un système de traitement électronique sécurisé de commandes à action directe pour véhicules autonomes constitué d'une combinaison de sous-systèmes indépendants fonctionnant simultanément dans un matériel et/ou un logiciel tel que, mais pas exclusivement, un système de navigation qui suit une structure prédéfinie de données de trajectoire dans le temps et dans l'espace, un géorepérage inverse en 3D ou en 4D ou une définition des couloirs aériens libres et/ou une fonctionnalité de connaissance de la situation qui peuvent sélectionner d'autres trajectoires de navigation, fonctions, comportements ou paramètres de système sur la base de la programmation d'application du véhicule.
PCT/US2017/014215 2016-01-22 2017-01-20 Système et procédé de traitement électronique sécurisé de commandes à action directe pour véhicules autonomes WO2017127596A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201662286286P 2016-01-22 2016-01-22
US62/286,286 2016-01-22

Publications (1)

Publication Number Publication Date
WO2017127596A1 true WO2017127596A1 (fr) 2017-07-27

Family

ID=59362097

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2017/014215 WO2017127596A1 (fr) 2016-01-22 2017-01-20 Système et procédé de traitement électronique sécurisé de commandes à action directe pour véhicules autonomes

Country Status (1)

Country Link
WO (1) WO2017127596A1 (fr)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111506079A (zh) * 2020-05-13 2020-08-07 浙江大学 一种考虑障碍物避让的新型无人船虚拟结构编队控制方法
US11198431B2 (en) 2019-04-30 2021-12-14 Retrospect Technology, LLC Operational risk assessment for autonomous vehicle control
US11235761B2 (en) 2019-04-30 2022-02-01 Retrospect Technology, LLC Operational risk assessment for autonomous vehicle control

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US6442456B2 (en) * 2000-03-07 2002-08-27 Modular Mining Systems, Inc. Anti-rut system for autonomous-vehicle guidance
US7386049B2 (en) * 2002-05-29 2008-06-10 Innovation Management Sciences, Llc Predictive interpolation of a video signal
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11198431B2 (en) 2019-04-30 2021-12-14 Retrospect Technology, LLC Operational risk assessment for autonomous vehicle control
US11235761B2 (en) 2019-04-30 2022-02-01 Retrospect Technology, LLC Operational risk assessment for autonomous vehicle control
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CN111506079B (zh) * 2020-05-13 2021-08-03 浙江大学 一种考虑障碍物避让的无人船虚拟结构编队控制方法

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