Shared control of semi-autonomous vehicles including collision avoidance in multi-agent scenarios
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United States of America Patent
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Dec 22, 2015
Grant Date -
Oct 8, 2015
app pub date -
Aug 12, 2014
filing date -
Sep 16, 2013
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Abstract
A method for providing shared control over movement of a vehicle within a space. The method includes receiving user input related to a velocity and a direction for the vehicle within the space. The method includes processing the user input to selectively adjust the velocity and the direction desired by the user based on a set of predefined constraints to generate a trajectory for the vehicle for an upcoming time period. The method includes operating drive mechanisms in the vehicle based on the trajectory to move the vehicle from a first position to a second position within the space during the upcoming time period. A grid map defining locations of obstacles in the space may be used to define the trajectory to avoid collisions, and a guidance trajectory may be used to further control movement to achieve a desired throughput and control vehicle movement within particular portions of the space.
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