U.S. patent application number 17/229611 was filed with the patent office on 2021-11-18 for fleet of autonomous vehicles with lane positioning and platooning behaviors.
This patent application is currently assigned to Nuro, Inc.. The applicant listed for this patent is Nuro, Inc.. Invention is credited to David Ian FERGUSON, Russell Leigh SMITH, Jiajun ZHU.
Application Number | 20210356959 17/229611 |
Document ID | / |
Family ID | 1000005749812 |
Filed Date | 2021-11-18 |
United States Patent
Application |
20210356959 |
Kind Code |
A1 |
FERGUSON; David Ian ; et
al. |
November 18, 2021 |
FLEET OF AUTONOMOUS VEHICLES WITH LANE POSITIONING AND PLATOONING
BEHAVIORS
Abstract
Disclosed herein are systems for navigating an autonomous or
semi-autonomous fleet comprising a plurality of autonomous or
semi-autonomous vehicles within a plurality of navigable pathways
within an unstructured open environment.
Inventors: |
FERGUSON; David Ian; (San
Francisco, CA) ; ZHU; Jiajun; (Palo Alto, CA)
; SMITH; Russell Leigh; (Mountain View, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Nuro, Inc. |
Mountain View |
CA |
US |
|
|
Assignee: |
Nuro, Inc.
Mountain View
CA
|
Family ID: |
1000005749812 |
Appl. No.: |
17/229611 |
Filed: |
April 13, 2021 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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16040418 |
Jul 19, 2018 |
11009868 |
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17229611 |
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62535118 |
Jul 20, 2017 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G08G 1/22 20130101; G05D
2201/0212 20130101; G08G 1/0145 20130101; B60W 2555/20 20200201;
G08G 1/167 20130101; G08G 1/0133 20130101; G05D 1/0293 20130101;
G06K 9/00798 20130101; B60W 2554/00 20200201; G05D 1/0027 20130101;
G06K 9/00805 20130101; G05D 1/0088 20130101; B60W 30/12 20130101;
G08G 1/0112 20130101; G08G 1/164 20130101 |
International
Class: |
G05D 1/00 20060101
G05D001/00; G08G 1/00 20060101 G08G001/00; G06K 9/00 20060101
G06K009/00; B60W 30/12 20060101 B60W030/12; G08G 1/16 20060101
G08G001/16; G08G 1/01 20060101 G08G001/01; G05D 1/02 20060101
G05D001/02 |
Claims
1. A system for navigation, the system comprising: at least a first
vehicle, the at least first vehicle being arranged to operate
autonomously or semi-autonomously; and a fleet control application,
the fleet control application including a processor and a
non-transitory computer-readable storage medium encoded with a
computer program including instructions executable by the processor
to create an application including (a) a first module, the first
module configured to manage lane positioning of the first vehicle
by determining at least one edge or boundary of a pathway, and (b)
a second module, the second module configured to cooperate with the
first module to manage the lane positioning of the first vehicle by
determining a position of the first vehicle relative to a map.
2. The system of claim 1 further including: a second vehicle, the
first vehicle and the second vehicle being part of a vehicle fleet,
wherein, the second vehicle being a lead vehicle, wherein the
application further includes (c) a third module, the third module
being arranged to measure at least one selected from a group
including a speed of the second vehicle, a distance between the
second vehicle and the first vehicle, a condition of the pathway, a
detected obstacle, a traffic congestion, and a weather
condition.
3. The system of claim 2 wherein the application further includes
(d) a fourth module, the fourth module configured to modify a
position and a speed of the first vehicle in response to at least
one selected from a group including the second vehicle, the
condition of the pathway, the detected obstacle, the traffic
congestion, and the weather condition.
4. The system of claim 1 further including: a second vehicle, the
first vehicle and the second vehicle being part of a vehicle fleet,
wherein, the second vehicle being a lead vehicle, wherein the
application further includes (c) a third module, the third module
being arranged to generate a response to the second vehicle and
environmental conditions for the first vehicle.
5. The system of claim 4 wherein the response includes at least one
corrective adjustment to the lane positioning of the first vehicle
that enables the first vehicle to navigate through the
environmental conditions.
6. The system of claim 1 wherein the pathway is a navigable
pathway, and wherein first module is configured to manage the lane
positioning of the first vehicle by continually determining the at
least one edge or boundary.
7. The system of claim 1 wherein fleet control application includes
a navigation module and the first vehicle includes a propulsion
system, and wherein the at least one edge or boundary includes a
left boundary and a right boundary, the navigation module arranged
to command the propulsion system to navigate the first vehicle
between the left boundary and the right boundary.
8. The system of claim 7 wherein the first vehicle further includes
a sensor system, and wherein the first module is configured to
determine the at least one edge or boundary using at least sensed
data obtained by the sensor system.
9. The system of claim 7 wherein the first module is configured to
position the first vehicle between the left boundary and the right
boundary at a given position between the left boundary and the
right boundary.
10. The system of claim 9 wherein the pathway is a road, and
wherein the given position is a center of a lane of the road, the
lane being defined between the left boundary and the right
boundary.
11. A system for navigation, the system comprising: a first
vehicle, the first vehicle being arranged to operate autonomously
or semi-autonomously, the first vehicle including a sensor system
and a communication system, the sensor system being arranged to
obtain sensed data; and an application, the application including a
processor and a non-transitory computer-readable storage medium
encoded with a computer program including instructions executable
by the processor, the application including (a) a lane position
detection module, the lane position detection module being arranged
to determine at least one boundary of a pathway using at least the
sensed data obtained from the sensor system through the
communication system, (b) a location detection module, the location
detection module being arranged to determine a position of the
first vehicle, and (c) a navigation module, the navigation module
configured to command the first vehicle through the communication
system to navigate the pathway based on at least one selected from
a group including the at least one boundary, the position of the
first vehicle, and the sensed data.
12. The system of claim 11 wherein the lane position detection
module is configured to continually determine the at least one
boundary of the pathway.
13. The system of claim 11 wherein the first vehicle includes a
propulsion system, and wherein the at least one boundary of the
pathway includes a left boundary and a right boundary, the
navigation module being arranged to command the propulsion system
to navigate between the left boundary and the right boundary.
14. The system of claim 13 wherein the propulsion system is an
autonomous or semi-autonomous propulsion system.
15. The system of claim 11 wherein the first vehicle includes an
autonomous or semi-autonomous propulsion system, and wherein the
navigation module being arranged to command the propulsion system
to navigate within a plurality of navigable pathways based at least
on one or more of the at least one boundary, the position, sensed
data, and a fleet instruction generated by the application.
16. The system of claim 11 wherein the lane position detection
module and the location detection module determine in parallel.
17. The system of claim 11 wherein the location detection module is
further arranged to confirm the position of the first vehicle using
the at least one boundary.
18. An application, the application including a processor and a
non-transitory computer-readable storage medium encoded with a
computer program including instructions executable by the
processor, the application comprising: (a) a lane position
detection module, the lane position detection module being arranged
to determine at least one boundary of a pathway arranged to be
traversed by a first vehicle having a sensor system using sensed
data obtained from the sensor system; (b) a database, the database
arranged to store a map that includes the pathway; (c) a location
detection module, the location detection module being arranged to
determine a position of the first vehicle using one or more of the
map and the sensed data; and (d) a navigation module, the
navigation module configured to command the first vehicle to
navigate the pathway based on at least one selected from a group
including the at least one boundary, the position of the first
vehicle, and the sensed data.
19. The application of claim 18 wherein the lane position detection
module is configured to continually determine the at least one
boundary of the pathway.
20. The application of claim 18 wherein the at least one boundary
of the pathway includes a left boundary and a right boundary, and
wherein the navigation module is arranged to command the first
vehicle to navigate between the left boundary and the right
boundary.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application claims the benefit of priority of U.S.
Provisional Patent Application No. 62/535,118, filed Jul. 20, 2017,
and is a continuation of U.S. patent application Ser. No.
16/040,418 entitled "FLEET OF AUTONOMOUS VEHICLES WITH LANE
POSITIONING AND PLATOONING BEHAVIORS," filed Jul. 19, 2018, which
applications are each incorporated herein by reference in their
entireties.
BACKGROUND OF THE INVENTION
[0002] The field of autonomous and semi-autonomous vehicles is a
growing field of innovation. Vehicles are being used for many
purposes including warehouse inventory operations, household
vacuuming vehicles, hospital delivery vehicles, sanitation vehicles
and military or defense applications.
SUMMARY OF THE INVENTION
[0003] This disclosure relates to a fleet comprising a plurality of
vehicles operating autonomously and/or and semi-autonomously and a
fleet management module for coordination of the fleet, each vehicle
configured for safe, open-road travel in an unstructured open
environment and further configured to utilize lane positioning and
platooning to optimize safety and efficiency.
[0004] Provided herein is an system for navigation within a
plurality of navigable pathways within an unstructured open
environment, the system comprising: a server processor configured
to provide a fleet management module application; an autonomous or
semi-autonomous fleet comprising a plurality of autonomous or
semi-autonomous vehicles, each autonomous or semi-autonomous
vehicle comprising: a sensor system comprising a plurality of
sensors configured to measure a sensed data; a location sensor
configured to measure a locational data; a communication device
configured to receive a fleet instruction from the fleet management
module application, and to transmit at least one of the sensed data
and the location data to the fleet management module application;
and an autonomous or semi-autonomous propulsion system; and the
system further comprising a non-transitory computer-readable
storage media encoded with a computer program including
instructions executable by a processor to create an application
comprising: a database comprising a map of the plurality of
navigable pathways within the unstructured open environment; a lane
position detection module determining a boundary of the navigable
pathway based at least on the sensed data; a location detection
module determining a position of the autonomous or semi-autonomous
vehicle based at least on one or more of the map, the locational
data, and the sensed data; and a navigation module commanding the
autonomous or semi-autonomous propulsion system to navigate within
the plurality of navigable pathways based at least on one or more
of the boundary of the navigable pathway, the position of the
autonomous or semi-autonomous vehicle, the sensed data, and the
fleet instruction.
[0005] In some embodiments, at least one of the plurality of
autonomous or semi-autonomous vehicles in the autonomous or
semi-autonomous fleet comprises a lead autonomous or
semi-autonomous vehicle. In some embodiments, the application
further comprises a lead position detection module determining a
position, a velocity, or both, of the lead autonomous or
semi-autonomous vehicle, based at least on one or more of the
sensed data and the fleet instruction. In some embodiments, the
application further comprises a platooning module determining a
drafting proximity adjustment based at least on the position, the
velocity, or both, of the lead autonomous or semi-autonomous
vehicle. In some embodiments, the navigation module further
commands the autonomous or semi-autonomous propulsion system based
on the drafting proximity adjustment. In some embodiments, the
navigation module commands the autonomous or semi-autonomous
propulsion system based on the drafting proximity adjustment when
the drafting proximity adjustment is within a set threshold. In
some embodiments, the application further comprises a driving
safety module detecting a hazard based at least on the sensed data,
wherein the hazard comprises at least one of a weather condition, a
manned vehicle position, and an obstacle. In some embodiments, the
driving safety module further determines a corrective maneuver
based on the hazard. In some embodiments, the navigation module
further commands the autonomous or semi-autonomous propulsion
system based on the corrective maneuver. In some embodiments, the
boundary of the navigable pathway comprises a left boundary and a
right boundary, and wherein the navigation module commands the
autonomous or semi-autonomous propulsion system to navigate between
the left boundary and the right boundary. In some embodiments, each
of the autonomous or semi-autonomous vehicles further comprises an
energy storage device configured to provide a power to at least one
of the sensor system, the location sensor, the communication
device, and the autonomous or semi-autonomous propulsion system. In
some embodiments, the lane position detection module and the
location detection module determine in parallel. In some
embodiments, the location detection module confirms the position of
the autonomous or semi-autonomous vehicle based on the boundary of
the navigable pathway and the map.
[0006] Also provided herein is an system for navigation within a
plurality of navigable pathways within an unstructured open
environment, the system comprising: a server processor configured
to provide a fleet management module application; an autonomous or
semi-autonomous fleet comprising a plurality of autonomous or
semi-autonomous vehicles, wherein at least one of the plurality of
autonomous or semi-autonomous vehicles comprises a lead autonomous
or semi-autonomous vehicle; and wherein each autonomous or
semi-autonomous vehicle comprises: a sensor system comprising a
plurality of sensors configured to measure a sensed data;
communication device configured to receive a fleet instruction from
the fleet management module application, and to transmit the sensed
data to the fleet management module application; an autonomous or
semi-autonomous propulsion system; and a location sensor configured
to measure a locational data; and the system further comprising a
non-transitory computer-readable storage media encoded with a
computer program including instructions executable by a processor
to create an application comprising: a lead position detection
module determining a position, a velocity, or both of the lead
autonomous or semi-autonomous vehicle based at least on one or more
of the sensed data and the fleet instruction; and a navigation
module commanding the autonomous or semi-autonomous propulsion
system to navigate within the plurality of navigable pathways based
at least on one or more of the position of the lead autonomous or
semi-autonomous vehicle, the velocity of the lead autonomous or
semi-autonomous vehicle, the sensed data, and the fleet
instruction.
[0007] In some embodiments, the application further comprises a
platooning module determining a drafting proximity adjustment based
at least on the position, the velocity, or both, of the lead
autonomous or semi-autonomous vehicle. In some embodiments, the
navigation module further commands the autonomous or
semi-autonomous propulsion system based on the drafting proximity
adjustment. In some embodiments, the navigation module commands the
autonomous or semi-autonomous propulsion system based on the
drafting proximity adjustment when the drafting proximity
adjustment is within a set threshold. In some embodiments, the
application further comprises a driving safety module detecting a
hazard based at least on the sensed data, wherein the hazard
comprises at least one of a weather condition, a manned vehicle
position, and an obstacle. In some embodiments, the driving safety
module further determines a corrective maneuver based on the
hazard. In some embodiments, the navigation module further commands
the autonomous or semi-autonomous propulsion system based on the
corrective maneuver.
[0008] Provided herein is a fleet comprising a plurality of vehicle
vehicles operating autonomously and/or and semi-autonomously and a
fleet management module (associated with a central server) for
coordination of the fleet, each vehicle configured for safe,
open-road travel in an unstructured open environment and further
configured to utilize lane positioning and platooning to optimize
safety and efficiency. Each vehicle comprises, a propulsion system,
a navigation module, a sensor system comprising a plurality of
sensors, multiple software modules, at least one communication
module and at least one processor configured to manage the
propulsion system, the navigation module, the software modules and
the at least one communication module.
[0009] Provided herein is a fleet, comprising: a plurality of
vehicles operating autonomously; and a fleet management module for
coordination of the fleet; wherein the fleet management module is
configured to coordinate the activity, location, and positioning of
each vehicle in the fleet; wherein the fleet is configured for
safe, open-road travel in an unstructured open environment; and
wherein each vehicle in the fleet comprises: a propulsion system; a
navigation module for navigation in the unstructured open
environment; at least one communication module adapted to receive,
store, and send data to a user and other vehicles in the fleet,
between the vehicles of the fleet and between the user and other
vehicles in the fleet, related to at least, the conditions in the
environment around the vehicle and the fleet interactions; a sensor
system comprising a plurality of sensors configured to assess the
environment around the vehicle; at least one processor configured
to manage the propulsion system, the navigation module, and the at
least one communication module; a first software module, executed
by the at least one processor, to apply one or more algorithms to
data from the plurality of sensors to manage lane positioning of
the autonomous or semi-autonomous vehicle by determining the edges
or boundaries of a navigable pathway and position the autonomous or
semi-autonomous vehicle within a specified distance from one or
more of said edges or boundaries; and an optional second software
module, executed by the at least one processor, to apply one or
more algorithms to data from the navigation module, acting in
parallel to the first software module to manage lane positioning of
the autonomous or semi-autonomous vehicle in the unstructured open
environment by confirming the position of the vehicle relative to a
known map and geo-positioning provided by the navigation module.
Additionally, the first software module, executed by the at least
one processor, may apply one or more algorithms to data acquired
from internal maps, combined with data from the plurality of
sensors to manage lane positioning.
[0010] Provided herein is a fleet, comprising: a plurality of
vehicles operating autonomously; and a fleet management module for
coordination of the fleet; wherein the fleet management module is
configured to coordinate the activity, location, and positioning of
each vehicles in the fleet; wherein the fleet is configured for
safe, open-road travel in an unstructured open environment; and
wherein each vehicles in the fleet comprises: a propulsion system;
a navigation module for navigation in the unstructured open
environment; at least one communication module configured to
transmit data from each vehicles to at least one of; the fleet
management module, a user, and other vehicles; and to receive
instructions from the fleet management module or a user; a sensor
system comprising a plurality of sensors configured to assess the
environment around the vehicles; at least one processor configured
to manage the propulsion system, the navigation module, and the at
least one communication module; and a third software module,
executed by the at least one processor, to apply one or more
algorithms to data collected from the plurality of sensors to
identify, and adjust for one or more of: a speed of a lead vehicle,
a distance apart from a lead vehicle, a lateral position of a lead
vehicle or (non-fleet) lead vehicle within the roadway, road
conditions, detected obstacles above, below or on either side of
the lead vehicle, traffic congestion, and weather conditions.
[0011] Provided herein is a fleet, comprising: a plurality of
vehicles operating autonomously; and a fleet management module for
coordination of the fleet; wherein the fleet management module is
configured to coordinate the activity, location, and positioning of
each vehicle in the fleet; wherein the fleet is configured for
safe, open-road travel in an unstructured open environment; and
wherein each vehicle in the fleet comprises: a propulsion system; a
power system, a navigation module for navigation in the
unstructured open environment; at least one communication module
configured to receive, store, and send data to a fleet management
module, a user and other vehicles in the fleet, between the
vehicles of the fleet and between the user and other vehicles in
the fleet, related to at least, the conditions in the environment
around the vehicle and the fleet interactions; a sensor system
comprising a plurality of sensors configured to assess the
environment around the vehicle; at least one processor configured
to manage the propulsion system, the power system, the navigation
module, and the at least one communication module; and a third
software module, executed by the at least one processor, to apply
one or more algorithms to data collected from the plurality of
sensors to identify, document, and adjust for one or more of: speed
of a lead vehicle, distance apart from a lead vehicle, road
conditions, detected obstacles above, below or on either side of
the lead vehicle, traffic congestion, other vehicles, pedestrians,
distance to road edge/curb, and weather conditions.
[0012] Provided herein is a fleet comprising a plurality of
vehicles operating autonomously and a fleet management module
(associated with a central server) for coordination of the fleet,
the fleet management module configured to coordinate the activity,
location and positioning of each vehicle in the fleet, the fleet
configured for safe, open-road travel in an unstructured open
environment, each vehicle in the fleet comprising: a propulsion
system (e.g., a drive system with a propulsion engine, wheels,
treads, wings, rotors, blowers, propellers, brakes, etc.); a power
system (e.g., battery, solar, gasoline, propane, hybrid, etc.), a
navigation module for navigation in the unstructured open
environment (e.g., digital maps, HD maps, GPS, etc.); at least one
communication module adapted to receive, store and send data to a
user and other vehicles in the fleet, between the vehicles of the
fleet and between the user and other vehicles in the fleet, related
to at least, the conditions in the environment around the vehicle
and the fleet interactions, respond to the selection or change the
order of destinations, respond to the selection or change of
routing to destinations, report geo-positioning of the vehicle,
fleet or sub-fleet, report condition of the vehicle (e.g., fuel
supply, accidents, component failure, etc.), report speed of
vehicle, fleet or sub-fleet, or report ETA for arrival at a
destination; a sensor system comprising a plurality of sensors
configured to assess a plurality of conditions and/or
characteristics concerning the environment around the vehicle; at
least one processor configured, at a minimum to manage the
propulsion system, the power system, the navigation module, the
fleet management module, and the at least one communication module;
a first software module, executed by the at least one processor to
apply one or more algorithms to data from the plurality of sensors
to manage lane positioning of the autonomous or semi-autonomous
vehicle by determining the edges or boundaries of a navigable
pathway and position the autonomous or semi-autonomous vehicle
within a specified distance from one or more of said edges or
boundaries; a second software module, executed by the at least one
processor to apply one or more algorithms to data from the
navigation module, acting in parallel to the first software module
to manage lane positioning of the autonomous or semi-autonomous
vehicle in the unstructured open environment by confirming the
position of the vehicle relative to a known (digital) map and
geo-positioning provided by the navigation module (e.g., GPS); and
a third software module, executed by the at least one processor to
apply one or more algorithms to data collected from the plurality
of sensors to identify, document, and adjust for one or more of:
speed of a lead vehicle; distance apart from a lead vehicle; road
conditions (e.g., wet/dry roads, etc.); detected obstacles above,
below or on either side of the lead vehicle; traffic congestion;
and weather conditions.
[0013] In some embodiments, each vehicle in the fleet further
comprise a fourth software module, executed by the at least one
processor to apply one or more algorithms to data from the
plurality of sensors, the third software module and the navigation
module to generate a platooning (convoying) behavior, by modifying
the position and speed of the vehicle in response to the lead
vehicle, the navigable pathway conditions and detected obstacles or
environmental conditions causing the vehicle to draft behind the
lead vehicle.
[0014] In some embodiments, the third software module, executed by
the at least one processor, applies one or more algorithms to data
collected from the plurality of sensors to identify, and adjust
lane positioning when there is no lead vehicle within the
roadway.
[0015] Provided herein is a fleet comprising a plurality of
vehicles operating autonomously and a fleet management module
(associated with a central server) for coordination of the fleet,
the fleet management module configured to coordinate the activity,
location and positioning of each vehicle in the fleet, the fleet
configured for safe, open-road travel in an unstructured open
environment, each vehicle in the fleet comprising: a propulsion
system (e.g., a drive system with a propulsion engine, wheels,
treads, wings, rotors, blowers, propellers, brakes, etc.); a
navigation module for navigation in the unstructured open
environment (e.g., digital maps, GPS); at least one communication
module adapted to receive, store and send data to a user and other
vehicles in the fleet, between the vehicles of the fleet and
between the user and other vehicles in the fleet, related to at
least, the conditions in the environment around the vehicle and the
fleet interactions, respond to the selection or change the order of
destinations, respond to the selection or change of routing to
destinations, report geo-positioning of the vehicle, fleet or
sub-fleet, report condition of the vehicle (e.g., fuel supply,
accidents, component failure), report speed of vehicle, fleet or
sub-fleet, or report ETA for arrival at a destination; a sensor
system comprising a plurality of sensors configured to assess a
plurality of conditions and/or characteristics concerning the
environment around the vehicle; at least one processor configured,
at a minimum to manage the propulsion system, the navigation
module, the fleet management module, and the at least one
communication module; a first software module, executed by the at
least one processor to apply one or more algorithms to data from
the plurality of sensors to manage lane positioning of the
autonomous or semi-autonomous vehicle by determining the edges or
boundaries of a navigable pathway and position the autonomous or
semi-autonomous vehicle within a specified distance from one or
more of said edges or boundaries; a second software module,
executed by the at least one processor to apply one or more
algorithms to data from the navigation module, acting in parallel
to the first software module to manage lane positioning of the
autonomous or semi-autonomous vehicle in the unstructured open
environment by confirming the position of the vehicle relative to a
known (digital) map and geo-positioning provided by the navigation
module (e.g., GPS); and a third software module, executed by the at
least one processor to apply one or more algorithms to data
collected from the plurality of sensors to identify, document, and
adjust for one or more of: speed of a lead vehicle; distance apart
from a lead vehicle; road conditions (e.g., wet/dry roads, etc.);
detected obstacles above, below or on either side of the lead
vehicle; traffic congestion; and weather conditions.
[0016] In some embodiments, each vehicle in the fleet further
comprise a fourth software module, executed by the at least one
processor to apply one or more algorithms to data from the
plurality of sensors, the third software module and the navigation
module to generate a platooning (or convoying) behavior, by
modifying the position and speed of the vehicle in response to the
lead vehicle, the navigable pathway conditions and detected
obstacles or environmental conditions causing the vehicle to draft
behind the lead vehicle.
[0017] In some embodiments, the first, second, third, and fourth
software modules may all be part of a single consolidated algorithm
that takes in all three sources of information from the plurality
of sensors, the third software module, and the navigation
module.
[0018] In some embodiments, when exhibiting a platooning behavior,
the lead vehicle comprises: a vehicle operated by a human, or at
least one vehicle from the plurality of vehicles is following the
vehicle operated by a human.
[0019] In some embodiments, the fleet is fully-autonomous. In some
embodiments, the fleet is semi-autonomous. In some embodiments, the
fleet is controlled directly by a user. In some embodiments, a
plurality of said autonomous or semi-autonomous vehicles within the
fleet is operated on behalf of a third-party vendor/service
provider.
[0020] In some embodiments, the fleet is configured for land travel
as a land vehicle. In some embodiments, the fleet is configured for
water travel as a watercraft. In some embodiments, the fleet is
configured for hover travel as an over-land or over-water
hovercraft. In some embodiments, the fleet is configured for air
travel as an aerial drone or aerial hovercraft. In some embodiments
the lead vehicle is remotely operated by a human.
[0021] In some embodiments the unstructured open environment is a
non-confined geographic region accessible by navigable pathways
comprising: public roads; private roads; bike paths; open fields,
open public lands, open private lands, pedestrian walkways, lakes,
rivers, or streams.
[0022] In some embodiments the unstructured open environment is a
non-confined geographic airspace safely accessible by navigable
unmanned drone aircraft comprising: anywhere at an altitude
allowing for a safe, controlled or emergency landing without undue
hazard to persons or property on the ground; anywhere at a cruising
altitudes at least 100 feet above ground level (AGL) in populated
areas; anywhere at a cruising altitudes at least 200 feet above the
highest obstacle within the horizontal distance of less than 500
feet in congested areas.
[0023] In some embodiments, the first (lane positioning) software
module is configured to position the autonomous or semi-autonomous
vehicle at or about a position inside of the left edge or left
boundary of the navigable pathway.
[0024] In some embodiments, the first (lane positioning) software
module is configured to position the autonomous or semi-autonomous
vehicle at or about a position inside of the right edge or right
boundary of the navigable pathway.
[0025] In some embodiments the first (lane positioning) software
module is configured to position the autonomous or semi-autonomous
vehicle at or about a given position between the left edge or left
boundary and the right edge or right boundary of the navigable
pathway. In some embodiments the first (lane positioning) software
module is configured to position the autonomous or semi-autonomous
vehicle in the center of the lane to provide maximum distance to
left and right sides.
[0026] In some embodiments, the third software module is configured
to assess and cause the digital processing device to respond to a
detected lead vehicle and environmental conditions comprising: the
lead vehicle speed; the vehicle location within a navigable
pathway; the environmental conditions; the detected obstacles
within the environment near to or approaching the vehicle; and the
necessary reaction time to implement a corrective maneuver; wherein
the third software module applies one or more algorithms to data
from the plurality of sensors to determine corrective adjustments
to the lane position and speed of the autonomous or semi-autonomous
vehicle to safely navigate through said environmental
conditions.
[0027] In some embodiments, the third software module may cause the
vehicle to slow down or stop when environmental conditions are not
detectable or when the digital processing device is unable to
understand the environmental conditions within a given set of
program parameters.
[0028] In some embodiments, the fourth (platooning behavior)
software module is configured to activate in response to conditions
comprising any one of, or one or more of: another non-fleet vehicle
moving in the same direction; when there is a vehicle operated by a
human (e.g., an expert) operator or (non-fleet) lead vehicle,
wherein said vehicle is configured to operate as part of a fleet or
a sub-fleet; and when there is more than one vehicle going to a
same destination at the same time; or when there is more than one
vehicle simultaneously moving along a common route, but to
different end destinations; or when there is more than one vehicle
going to or from multiple destinations along at least part of a
common route.
[0029] In some embodiments, the fourth (platooning behavior)
software module is configured to activate in response to
environmental conditions wherein safety of the autonomous or
semi-autonomous vehicle is in question and/or environmental
conditions suggest conservative operating behavior. In some
embodiments, the fourth (platooning behavior) software module is
configured to cause each vehicle follow a lead vehicle or lead
(non-fleet) vehicle, either directly behind or at some lateral
offset.
[0030] In some embodiments, the fourth (platooning behavior)
software module further comprises algorithms configured for causing
the plurality of vehicles in a platoon to effectively and
efficiently negotiate turns in navigable pathways whereby platoon
shadowing is employed, such that the vehicle following a lead
vehicle would move into a position abaft the lead vehicle,
traveling at or about the same speed.
[0031] In some embodiments, the fourth (platooning behavior)
software module further comprises algorithms configured for causing
the plurality of vehicles in a platoon to effectively and
efficiently follow a lead vehicle in a manner whereby platoon
shadowing is employed, such that it generates a slipstreaming
benefit.
[0032] In some embodiments, the environmental conditions suggesting
conservative operating behavior comprise: poor weather conditions;
road construction; traffic accidents; crowded road conditions; high
pedestrian traffic; narrow lanes/roads; school zones; hospital
zones; unidentified obstacles in the road; or when the vehicle is
uncertain because the digital processing device cannot determine an
alternative safe operating mode.
[0033] In some embodiments, an environmental condition suggesting
conservative operating behavior further comprises the inability of
the vehicle to determine discernible edges or boundaries of the
navigable pathway, thus requiring platooning (or convoying) behind
a non-autonomous vehicle operated by a human operator or any
non-fleet vehicle or any non-fleet autonomous or semi-autonomous
vehicle.
[0034] In some embodiments, the vehicle sensory systems may monitor
and adjust for how much room the vehicle has on each side within
the lane, and what exists adjacent to the vehicle within the
lane.
[0035] In some embodiments, a safety condition suggesting
conservative operating behavior further comprises configuring the
fleet vehicle to platoon (convoy) behind another non-fleet
autonomous or semi-autonomous vehicle. In some embodiments, a
safety condition suggesting conservative operating platooning
behavior further comprises navigating on narrow roads or near
parked cars or in high pedestrian areas or other potentially higher
risk scenarios. In some embodiments, the autonomous or
semi-autonomous vehicle is a larger vehicle that may provide an
early warning to the vehicle and to other road users. In some
embodiments, the fourth (platooning behavior) software module is
not executed by the at least one processor when the lead vehicle
is: a bicycle; a motorcycle; narrower than the autonomous or
semi-autonomous vehicle; moving faster than the maximum speed of
the autonomous or semi-autonomous vehicle.
[0036] In some embodiments, the fourth (platooning behavior)
software module is executed by the at least one processor when the
edges or boundaries of a navigable pathway are not consistently
discernible; or wherein there is a conflict between the navigation
module (e.g., digital maps, GPS) and the sensors configured to
detect the edges or boundaries of a navigable pathway.
[0037] In some embodiments, the autonomous or semi-autonomous
vehicles are configured for: [0038] land travel; water travel; or
air travel.
[0039] In some embodiments, the autonomous or semi-autonomous
vehicles are configured with a maximum speed range from 13 mph to
90 mph.
[0040] In some embodiments, the autonomous or semi-autonomous
vehicles further comprise a plurality of securable compartments to
hold goods.
[0041] In some embodiments, a plurality of said autonomous or
semi-autonomous vehicles within the fleet is further configured to
be part of a sub-fleet comprising a sub-plurality of autonomous or
semi-autonomous vehicles. In further embodiments, each sub-fleet is
configured to operate independently or in tandem with multiple
sub-fleets comprising two or more sub-fleets.
[0042] Provided herein is a fleet comprising a plurality of
vehicles operating autonomously or semi-autonomously; and a fleet
management module for coordination of the fleet; wherein the fleet
management module is configured to coordinate the activity,
location, and positioning of each vehicle in the fleet; wherein the
fleet is configured for safe, open-road travel in an unstructured,
open environment; and wherein each vehicle in the fleet comprises:
a propulsion system; a power system; a navigation module for
navigation in the unstructured open environment; at least one
communication module adapted to receive and transmit data to a
fleet management module, a user and other vehicles in the fleet,
between the vehicles of the fleet and between the user and other
vehicles in the fleet, related to at least, the conditions in the
environment around the vehicle and the fleet interactions; a sensor
system comprising a plurality of sensors configured to detect the
environment around the vehicle; at least one processor configured
to manage the propulsion system, the power system, the navigation
module, the sensor system, and the at least one communication
module; a first software module, executed by the at least one
processor, to apply one or more algorithms to data from the
plurality of sensors to manage lane positioning of the autonomous
or semi-autonomous vehicle by determining the edges or boundaries
of a navigable pathway and position the autonomous or
semi-autonomous vehicle within a specified distance from one or
more of said edges or boundaries; and a second software module,
executed by the at least one processor, to apply one or more
algorithms to data from the navigation module, acting in parallel
to the first software module to manage lane positioning of the
autonomous or semi-autonomous vehicle in the unstructured open
environment by confirming the position of the vehicle relative to a
known map and geo-positioning provided by the navigation
module.
[0043] Provided herein is a fleet comprising a plurality of
vehicles operating autonomously; and a fleet management module for
coordination of the fleet; wherein the fleet management module is
configured to coordinate the activity, location, and positioning of
each vehicle in the fleet; wherein the fleet is configured for
safe, open-road travel in an unstructured, open environment; and
wherein each vehicle in the fleet comprises: a propulsion system; a
power system; a navigation module for navigation in the
unstructured open environment; at least one communication module
configured to receive, store, and transmit data to a fleet
management module, a user and other vehicles in the fleet, between
the vehicles of the fleet and between the user and other vehicles
in the fleet, related to at least, the conditions in the
environment around the vehicle and the fleet interactions; a sensor
system comprising a plurality of sensors configured to detect the
environment around the vehicle; at least one processor configured
to manage the propulsion system, the power system, the navigation
module, the sensor system, and the at least one communication
module; and to assess the data provided by the sensor system as it
relates to the vehicle's navigation; and a third software module,
executed by the at least one processor, to apply one or more
algorithms to data collected from the plurality of sensors to
identify, document, and adjust for one or more of: speed of a lead
vehicle, distance apart from a lead vehicle, road conditions,
detected obstacles above, below or on either side of the lead
vehicle, traffic congestion, and weather conditions.
[0044] In some embodiments, each vehicle in the fleet further
comprises a fourth software module, executed by the at least one
processor to apply one or more algorithms to data from the
plurality of sensors, the third software module and the navigation
module to generate a platooning behavior, by modifying the position
and speed of the vehicle in response to the lead vehicle, the
navigable pathway conditions and detected obstacles or
environmental conditions causing the vehicle to draft behind the
lead vehicle.
[0045] In some embodiments, when the fleet is exhibiting a
platooning behavior, the lead vehicle comprises: an autonomous or
semi-autonomous vehicle; a semi-autonomous vehicle; a vehicle
operated by a human; or a non-fleet autonomous or semi-autonomous
vehicle; a vehicle from the plurality of vehicles that is following
the vehicle operated by a human.
[0046] In some embodiments, the lead vehicle is remotely
operated.
[0047] In some embodiments, the unstructured open environment is a
non-confined geographic region accessible by navigable pathways
comprising one or more of: public roads, private roads, bike paths,
open fields, open public lands, open private lands, pedestrian
walkways, lakes, rivers, streams, and open airspace.
[0048] In some embodiments, the first software module is configured
to position the autonomous or semi-autonomous vehicle at or about a
position inside of the left edge or left boundary of the navigable
pathway.
[0049] In some embodiments, the first software module is configured
to position the autonomous or semi-autonomous vehicle at or about a
position inside of the right edge or right boundary of the
navigable pathway.
[0050] In some embodiments, the first software module is configured
to position the autonomous or semi-autonomous vehicle at or about a
given position between the left edge or left boundary and the right
edge or right boundary of the navigable pathway.
[0051] In some embodiments, the third software module is configured
to assess and cause the digital processing device to respond to a
detected lead vehicle and environmental conditions comprising one
or more of: the lead vehicle speed, the vehicle location within a
navigable pathway, the detected obstacles within the environment
near to or approaching the vehicle, and the necessary reaction time
to implement a corrective maneuver; wherein the third software
module applies one or more algorithms to data from the plurality of
sensors to determine corrective adjustments to the lane position
and speed of the autonomous or semi-autonomous vehicle to safely
navigate through said environmental conditions.
[0052] In some embodiments, the third software module may cause the
vehicle to slow down or stop when environmental conditions are not
detectable or when the digital processing device is unable to
understand the environmental conditions within a given set of
program parameters.
[0053] In some embodiments, the fourth (platooning behavior)
software module is configured to activate in response to conditions
comprising: when there is a vehicle operated by a human operator or
non-fleet vehicle; wherein said vehicle is configured to operate as
part of a fleet or a sub-fleet, and when there is more than one
vehicle going to a same destination at the same time; or when there
is more than one vehicle simultaneously moving along a common
route, but to different end destinations; or when there is more
than one vehicle going to or from multiple destinations along at
least part of a common route.
[0054] In some embodiments, the fourth (platooning behavior)
software module is configured to activate in response to
environmental conditions wherein safety of the autonomous or
semi-autonomous vehicle is in question and/or environmental
conditions suggest conservative operating behavior.
[0055] In some embodiments, the environmental conditions suggesting
conservative operating behavior comprise one or more of: poor
weather conditions, road construction, traffic accidents, crowded
road conditions, high pedestrian traffic, narrow lanes, narrow
roads, school zones, hospital zones, unidentified obstacles in the
road, and when the vehicle is uncertain because the digital
processing device cannot determine an alternative safe operating
mode.
[0056] In some embodiments, the fourth (platooning behavior)
software module is not executed by the at least one processor when
the lead vehicle is: a bicycle; a motorcycle; narrower than the
autonomous or semi-autonomous vehicle; moving faster than the top
speed of the autonomous or semi-autonomous vehicle; or wherein the
edges or boundaries of a navigable pathway are not consistently
discernible; or wherein there is a conflict between the navigation
module (e.g., digital maps, GPS, etc.) and the sensors configured
to detect the edges or boundaries of a navigable pathway.
[0057] In some embodiments, the fourth (platooning behavior)
software module is executed by the at least one processor when the
edges or boundaries of a navigable pathway are not consistently
discernible; or there is a conflict between the navigation module
(e.g., digital maps, GPS, etc.) and the sensors configured to
detect the edges or boundaries of a navigable pathway.
[0058] In some embodiments, the fourth (platooning behavior)
software module further comprises algorithms configured for causing
the plurality of vehicles in a platoon to effectively and
efficiently negotiate turns in navigable pathways whereby platoon
shadowing is employed, such that the vehicle following a lead
vehicle would move into a position abaft the lead vehicle,
traveling at or about the same speed.
[0059] In some embodiments, the autonomous or semi-autonomous
vehicles are configured for: land travel; water travel; or air
travel.
INCORPORATION BY REFERENCE
[0060] All publications, patents, and patent applications mentioned
in this specification are herein incorporated by reference to the
same extent as if each individual publication, patent, or patent
application was specifically and individually indicated to be
incorporated by reference.
BRIEF DESCRIPTION OF THE DRAWINGS
[0061] The novel features of the invention are set forth with
particularity in the appended claims. A better understanding of the
features and advantages of the present invention may be obtained by
reference to the following detailed description that sets forth
illustrative embodiments, in which the principles of the invention
are utilized, and the accompanying drawings of which:
[0062] FIG. 1 is an illustration of an exemplary autonomous or
semi-autonomous fleet comprising a sub-fleet, in accordance with
some embodiments;
[0063] FIG. 2 is a front view an exemplary autonomous or
semi-autonomous vehicle, in accordance with some embodiments;
[0064] FIG. 3 is a right view an exemplary autonomous or
semi-autonomous vehicle, in accordance with some embodiments;
[0065] FIG. 4 is a front view an exemplary autonomous or
semi-autonomous vehicle, in accordance with some embodiments;
[0066] FIG. 5 is an illustration of an exemplary autonomous or
semi-autonomous fleet comprising a lead autonomous or
semi-autonomous vehicle, in accordance with some embodiments;
[0067] FIG. 6 is a flowchart of an exemplary fleet control system,
in accordance with some embodiments;
[0068] FIG. 7 is a flowchart of an exemplary fleet control module,
in accordance with some embodiments;
[0069] FIG. 8 is a flowchart of another exemplary fleet control
module, in accordance with some embodiments;
[0070] FIG. 9 is a flowchart of an exemplary system, in accordance
with some embodiments;
[0071] FIG. 10 is another flowchart of an exemplary system, in
accordance with some embodiments;
[0072] FIG. 11 is a non-limiting schematic diagram of a digital
processing device; in this case, a device with one or more CPUs, a
memory, a communication interface, and a display, in accordance
with some embodiments;
[0073] FIG. 12 is a non-limiting schematic diagram of a web/mobile
application provision system; in this case, a system providing
browser-based and/or native mobile user interfaces, in accordance
with some embodiments; and
[0074] FIG. 13 is a non-limiting schematic diagram of a cloud-based
web/mobile application provision system; in this case, a system
comprising an elastically load balanced, auto-scaling web server
and application server resources as well synchronously replicated
databases, in accordance with some embodiments.
DETAILED DESCRIPTION OF THE INVENTION
[0075] This disclosure relates to a fleet comprising a plurality of
vehicles operating autonomously and/or and semi-autonomously and a
fleet management module for coordination of the fleet, each vehicle
configured for safe, open-road travel in an unstructured open
environment and further configured to utilize lane positioning and
platooning to optimize safety and efficiency.
[0076] This disclosure relates to a fleet comprising a plurality of
vehicles operating autonomously and/or and semi-autonomously and a
fleet management module for coordination of the fleet, each vehicle
configured for safe, open-road travel in an unstructured open
environment and further configured to utilize lane positioning and
platooning to optimize safety and efficiency, each vehicle
comprising, a propulsion system, a navigation module, a sensor
system comprising a plurality of sensors, multiple software
modules, at least one communication module and at least one
processor configured to manage the propulsion system, the
navigation module, the plurality of sensors, the plurality of
software modules and the at least one communication module.
Fleet of Vehicles
[0077] Provided herein, per FIG. 1 is an autonomous or
semi-autonomous fleet 100 comprising a plurality of autonomous or
semi-autonomous vehicles 101.
[0078] In some embodiments, one or more of the vehicles 101 within
the fleet 100 are configured to be part of a sub-fleet 100a that
operates independently or in tandem with other sub-fleets 100a. In
one example, the sub-fleet 100a of vehicles 101 may only provide a
product, service, or level of service associated with a single
vendor. Each of the vehicles 101 in the sub-fleet 100a may display
a logo of the vendor or an alternative indicator representing the
specific product, service, or level of service associated with that
vehicle 101. Levels of service may include immediate dedicated rush
service, guaranteed morning/afternoon delivery service, and general
delivery service. Some sub-fleets 100a may offer a faster or more
prioritized service than other sub-fleets 100a. Each sub-fleet 100a
may comprise 1, 2, 3, 4, 5, 10, 15, 20, 50, 100, 200, 300, 400,
500, 700, 1,000, 2,000, 3,000, 5,000, 10,000 or more autonomous or
semi-autonomous vehicles 101, including increments therein. The two
or more sub-fleets 100a may operate independently or in tandem.
[0079] In one example of the operations of sub-fleets of autonomous
or semi-autonomous vehicles, an independent survey company rents or
leases a sub-fleet of 10 autonomous or semi-autonomous vehicles
which are partially or completely dedicated to the tasks and/or
services of the survey company. The sub-fleet may comprise "white
label" vehicles carrying the logo of the survey company.
[0080] In some embodiments, when exhibiting a platooning behavior,
the lead vehicle comprises: a vehicle operated by a human, or at
least one vehicle from the plurality of vehicles is following the
vehicle operated by a human.
Autonomous or Semi-Autonomous Vehicles
[0081] As illustrated in FIGS. 1-5, the vehicle 101 may comprise an
autonomous or semi-autonomous vehicle configured for land travel.
The vehicle 101 may have a width, a height, and a length, wherein
the length is about 2 feet to about 5 feet. The vehicle 101 may be
lightweight and have a low center of gravity for increased
stability. The vehicle 101 may be configured for land, water, or
air. The vehicle 101 may comprise a land vehicle such as, for
example, a car, a wagon, a van, a tricycle, a truck, a trailer, a
bus, a train, or a tram. The vehicle 101 may comprise a watercraft
such as, for example, a ship, a boat, a ferry, a landing craft, a
barge, a raft, a hovercraft, or any combination thereof.
Alternatively, the vehicle 101 may comprise an aircraft or a
spacecraft.
[0082] Each vehicle 101 in the fleet may comprise an autonomous
propulsion system 103 comprising a drive system, a propulsion
engine, a wheel, a treads, a wing, a rotor, a blower, a rocket, a
propeller, a brake, or any combination thereof.
[0083] In one exemplary embodiment, a vehicle 101 comprises a land
vehicle configured with a traditional 4-wheeled automotive
configuration comprising conventional steering and braking systems.
In this embodiment, the drive train may be configured for standard
2-wheel drive or 4-wheel all-terrain traction drive, and the
propulsion system may be configured as a gas engine, a turbine
engine, an electric motor, and/or a hybrid gas/electric engine.
[0084] In some embodiments, the vehicle 101 is configured for water
travel as a watercraft with a propulsion system comprising a gas
engine, a turbine engine, an electric motor and/or a hybrid
gas/electric engine, or any combination thereof. In some
embodiments, the vehicle 101 is configured for hover travel as an
over-land or over-water hovercraft or an air-cushion vehicle (ACV)
and is configured with blowers to produce a large volume of air
below the hull that is slightly above atmospheric pressure. In some
embodiments, the vehicle 101 is configured for air travel as an
aerial drone or aerial hovercraft and is configured with wings,
rotors, blowers, rockets, and/or propellers and an appropriate
brake system.
[0085] The vehicle 101 may further comprise an auxiliary solar
power system to provide back-up emergency power or power for minor
low-power sub-systems. In some embodiments, each vehicle of the
fleet is configured with one or more power sources, such as
battery, solar, gasoline, or propane. In some embodiments, the
vehicle 101 further comprises a digital display for curated content
comprising advertisements, marketing promotions, a public service
notification, an emergency notification, or any combination
thereof.
[0086] Each vehicle 101 in the fleet 100 may comprise a sensor
system comprising a plurality of onboard sensors such as, for
example, a camera, a video camera, a LiDAR, a radar, an ultrasonic
sensor, and a microphone. Each vehicle 101 may further comprise an
internal computer for real time navigation and obstacle avoidance,
based on the data received by the sensors. In some embodiments, the
vehicles may further comprise an autonomous propulsion system
sensor configured to monitor drive mechanism performance (e.g., the
propulsion engine), power system levels (e.g., battery, solar,
gasoline, propane, etc.), monitor drive train performance (e.g.,
transmission, tires, brakes, rotors, etc.), or any combination
thereof.
[0087] In some embodiments, the vehicle is further configured to
process or manufacture a good. In some embodiments, the vehicle is
configured to process or manufacture the good in-transit. In some
embodiments, the processed or manufactured good comprises: a
beverage with or without condiments (such as coffee, tea,
carbonated drinks, etc.), a fast food, a microwavable food, a
reheatable food, or a rehydratable food. In some embodiments, the
vehicle is equipped for financial transactions through debit or
credit card readers.
[0088] In some embodiments, the vehicle 101 has a driving speed of
about 1 mile per hour (mph) to about 90 mph, to accommodate
inner-city, residential, and intrastate or interstate driving. In
some embodiments, the vehicle 101 is configured for land travel. In
some embodiments, each vehicle 101 in the fleet is configured with
a working speed range from 13.0 mph to 45.0 mph. In some
embodiments, the vehicle 101 is configured with a maximum speed
range from 13.0 mph to about 90.0 mph. In some embodiments, vehicle
101 is configured for water travel as a watercraft and is
configured with a working speed range from 1.0 mph to 45.0 mph. In
some embodiments, the vehicle 101 is configured for hover travel as
an over-land or over-water hovercraft and is configured with a
working speed range from 1.0 mph to 60.0 mph. In some embodiments,
the vehicle 101 is configured for air travel as an aerial drone or
aerial hovercraft and is configured with a working speed range from
1.0 mph to 80.0 mph.
[0089] As illustrated in FIGS. 1-5, in some embodiments, the
vehicle 101 is configured for land travel. The vehicle 101 may be
narrow (i.e., 2-5 feet wide), have a low mass and low center of
gravity for stability, and be designed for moderate maximum speed
ranges (i.e., 13-90 mph). The vehicle 101 may be designed to
accommodate cart paths, bike paths, inner-city, rural, residential
main thoroughfares, state and local highway and interstate highway
driving speeds. Each land vehicle 101 may be configured to operate
within set speed ranges to accommodate for special circumstances
such as slow-moving traffic, pedestrian traffic, vehicle towing
vehicle, automated parking, and reverse driving. Further each land
vehicle 101 may comprise sensors to provide confirmation data, when
on-board navigation maps provide conflicting information. Each land
vehicle 101 may be programmed to drive at slower speeds for safety
during particular scenarios and conditions. The software and
hardware sensors may monitor environmental conditions, the
operating environment, or other sensed data to determine an
appropriate speed at any given time, depending on the
circumstances. In some embodiments, the operating speeds in any
given environment is governed by on-board the sensors that monitor
environmental conditions, the operating environment to determine an
appropriate speed at any given time.
[0090] Each vehicle 101 may be equipped with a sensor system
comprising a plurality of onboard navigation sensors such as a
camera (which may run at a high frame rate, akin to video), LiDAR,
radar, ultrasonic sensors, microphones, or any other sensor or
combination of sensors. The sensors may enable each vehicle 101 to
utilize lane positioning and platooning to optimize safety and
efficiency while operating in an unstructured open environment.
Further, each vehicle 101 in the fleet may utilize internal
computer processing to constantly determine safe navigation paths,
surrounding objects, and maneuvers thereby to meet set safety
parameters. Each vehicle in the fleet may be further equipped with
propulsion system sensors to monitor the internal functions of the
propulsion system.
[0091] In some embodiments, the operating speed range of each
vehicle 101 is configured from a full stop to an operating speed
range. The operating speed range may be about 1.0 foot per minute
(fpm)-1.0 mph, 1.0 fpm-3.0 mph, 1.0 fpm-5.0 mph, 1.0 fpm-7.5 mph,
1.0 fpm-10.0 mph, 1.0 fpm-13.0 mph, 1.0 fpm-15.0 mph, 1.0 fpm-20.0
mph, 1.0 fpm-25.0 mph, 1.0 fpm-30.0 mph, 1.0 fpm-35.0 mph, 1.0
fpm-40.0 mph, 1.0 fpm-45.0 mph, 1.0 fpm-50.0 mph, 1.0 fpm-55.0 mph,
1.0 fpm-60.0 mph, 1.0 fpm-65.0 mph, 1.0 fpm-70.0 mph, 1.0 fpm-75.0
mph, 1.0 fpm-80.0 mph, 1.0 fpm-85.0 mph or 1.0 fpm-90.0 mph. The
operating speed range may be determined by the on-board hardware
sensors and software monitoring environmental conditions, the
operating environment, or any combination thereof, to determine an
appropriate speed at any given time.
[0092] In addition to a "full stop" condition, each vehicle 101 may
also be configured with a "crawl" or "creep" speed comprising a
speed range between 1.0 foot/min to 1.0 mph to accommodate for
navigating very tight situations, automated parking, pulling
another vehicle from an entrapment such as mud or snow, or
preparing to stop.
[0093] In some embodiments, each vehicle 101 is programmed with a
maximum speed range. The maximum speed range may be about 13.0
mph-15.0 mph, 13.0 mph-20.0 mph, 13.0 mph-25.0 mph, 13.0 mph-30.0
mph, 13.0 mph-35.0 mph, 13.0 mph-40.0 mph, 13.0 mph-45.0 mph, 13.0
mph-50.0 mph, 13.0 mph-55.0 mph, 13.0 mph-60.0 mph, 13.0 mph-65.0
mph, 13.0 mph-70.0 mph, 13.0 mph-75.0 mph, 13.0 mph-80.0 mph, 13.0
mph-85.0 mph and 13.0 mph-90.0 mph, as needed, to allow for
operation on open roads, bike paths, and other environments where
higher speeds are appropriate. In some embodiments, the fleet is
configured for land travel. In some embodiments, each vehicle land
vehicle in the fleet is configured with a maximum speed range from
13.0 mph to 90.0 mph.
[0094] Further still, in some embodiments, the vehicle may be
configured for air travel and configured to monitor, collect, and
report data. For example, the fleet is configured to monitor and
report aerial survey results for any number of situations as would
be obvious to one of skill in the art. In some embodiments, the air
travel fleet is configured with a maximum speed range from 1.0 mph
to 80.0 mph.
[0095] In some embodiments, the vehicles 101 are configured with a
forward mode, a reverse mode, and a park mode. In some embodiments,
the fleet is fully-autonomous. In some embodiments, human
interaction between the vehicle 101, and the fleet operator, may be
required to address previously unforeseen issues (e.g., a
malfunction with the navigation module, a malfunction with the
sensor system, unanticipated traffic or road conditions, or a
traffic accident, etc.). In some embodiments, it may be necessary
to have direct human interaction between the vehicle 101 and/or the
fleet operator to address maintenance issues such as mechanical
failure, electrical failure or a traffic accident. In some
embodiments, the fleet 100 is controlled directly by a user.
[0096] In some embodiments, the fleet is configured for water
travel as a watercraft and is configured with a maximum speed range
from 1.0 mph to 45.0 mph. In some embodiments, the fleet is
configured for hover travel as an over-land or over-water
hovercraft and is configured with a maximum speed range from 1.0
mph to 60.0 mph. In some embodiments, the fleet is configured for
air travel as an aerial drone or aerial hovercraft and is
configured with a maximum speed range from 1.0 mph to 80.0 mph. In
some embodiments, a plurality of said autonomous or semi-autonomous
vehicles within the fleet is operated on behalf of third-party
vendor/service provider.
[0097] In some embodiments, per FIG. 3, a plurality of the
autonomous or semi-autonomous vehicles 101 within the fleet 101 is
configured with a securable compartment 102 configured for
transporting goods. In some embodiments, a plurality of the
autonomous or semi-autonomous vehicles 101 is further configured to
be part of a sub-fleet comprising a sub-plurality of autonomous or
semi-autonomous vehicles 101, each sub-fleet 100a is configured to
operate independently or in tandem with multiple sub-fleets 100a
comprising two or more sub-fleets.
[0098] For example, an independent survey company may be
established to provide contracted services to various customers
requesting land surveys. The independent survey company may rent or
lease a fleet of vehicles 101 from a fleet owner and provide a
sub-fleet of "white label" vehicles carrying the logo of the
independent survey company to their customers, to provide this
service, utilizing the vehicles 101 in an autonomous or
semi-autonomous fashion.
[0099] In some embodiments, the fleet is controlled directly by the
user. In some embodiments, if the vehicle 101 breaks down, has an
internal system or module failure, each vehicle 101 within the
fleet may be configured to allow for direct control of the
vehicle's at least one processor to override the conveyance and
sensor systems (i.e., cameras, etc.) by a user or fleet operator to
allow for the safe return of the vehicle 101 to a base station for
repair.
Operating Environments
[0100] In some embodiments, the unstructured open environment is a
non-confined geographic region accessible by navigable pathways
comprising: public roads; private roads, bike paths, open fields,
open public lands, open private lands, pedestrian walkways, lakes,
rivers, or streams.
[0101] In some embodiments, the unstructured open environment is a
non-confined airspace or even near-space environment which includes
all main layers of the Earth's atmosphere comprising the
troposphere, the stratosphere, the mesosphere, the thermosphere and
the exosphere.
[0102] In some embodiments, the navigation module controls routing
of the propulsion system of the vehicles in the fleet in the
unstructured open environments.
Fleet Management Module
[0103] Provided herein, per FIG. 6, is a system for fleet
management comprising a fleet management module 601, a central
server 602, a vehicle 604, a customer 603, and a service provider
605. In some embodiments, the fleet management module 601
coordinates, assigns tasks, and monitors the position of each of
the plurality of vehicles 604 in the fleet. The fleet management
module 601 may coordinate the vehicles 604 in the fleet to monitor
and collect data regarding unstructured open or closed
environments, and report to the service provider 605. As seen, the
fleet management module 601 may coordinate with a central server
602. The central server 602 may be located in a central operating
facility owned or managed by the fleet owner. The service provider
605 may comprise a third party provider of a good or service. The
service provider 605 may comprise a vendor, a business, a
restaurant, a delivery service, a retailer, or any combination
thereof.
[0104] In some embodiments, the fleet management module 601 is
configured to receive, store and transmit data to and/or from the
service provider 605. The fleet management module 601 may receive
and transmit data to and/or from the service provider 605 via a
service provider application. In some embodiments, the service
provider application comprises a computer application, an internet
application, a tablet application, a phone application, or any
combination thereof.
[0105] In some embodiments, the central server 602 is configured to
receive, store and transmit data to and/or from the customer 603.
The central server 602 may receive and transmit data to and/or from
the customer 603 via a customer application. In some embodiments,
the customer application comprises a computer application, an
internet application, a tablet application, a phone application, or
any combination thereof.
[0106] In some embodiments, the vehicle 604 comprises a memory
device to store the data for future data transfer or manual
download.
[0107] In one example, an order by a customer 603 is transmitted to
a central server 602, which then communicates with the fleet
management module 601, which relays the order to the service
provider 605 associated with the order and a vehicle 604. The fleet
management module 601 may employ one or more vehicles 604 or
sub-fleet vehicles 604 that are closest to the service provider
605, customer 603, or both. The assigned service provider then
interacts with that vehicle 604 through a service provider
application to supply the vehicle 604 with any goods, maps, or
instructions associated with the order. The vehicle 604 then
travels to the customer 603 and reports completion of the order to
at least one of the customer 603, the service provider 605, the
central server 602, and the fleet management module 601.
[0108] In some embodiments the vehicle 604 may be operated on
behalf of the service provider 605, wherein at least one of the
central server 602 and the fleet management module 601 is operated
by the service provider 605. In any one of the embodiments, the
vehicle 604 is controlled directly by the customer 603, the service
provider 605, or both. In some embodiments, human interaction of
the vehicle 604 may be required to address maintenance issues such
as mechanical failure, electrical failure or a traffic
accident.
[0109] In one example, the fleet management module 601 receives an
instruction from the service provider 605 to collect an item at a
first location and deliver the item to a second location. Upon
receipt of the instruction, the fleet management module 601 may
assign one or more of the vehicles 604 to perform the instruction
by navigating the one or more of the vehicles 604 the first
location. The one more of the vehicles 604 may then confirm the
receipt of the item and navigate to the second location. The one
more of the vehicles 604 may then deliver the item to the second
location and confirm receipt of the delivery. In some embodiments,
the one more of the vehicles 604 may further receive an
identification associated with the first location, the second
location, or both, to enable receipt and delivery of the item.
[0110] In one example, a request by the customer 603 is sent to the
central server 602, which then communicates with the fleet
management module 601 to relay the request to the service provider
605, which instructs the vehicles 604. The fleet management module
601 may select one or more of the vehicles 604 within the
geographic region and/or proximity of the customer 603, the service
provider 605, or both. The vehicles 604 may be first directed to a
location associated with the service provider 605 to receive an
item associated with the request. The vehicle 604 may then travel
to a location associated with the customer 603. The customer 603
may then interact with the one or more vehicle 604 to retrieve the
item. The customer 603 may retrieve the item by opening a
compartment within the vehicle 604. The customer 603 may open the
compartment within the vehicle 604 through a customer application,
or a customer interface comprising, for example, an RFID reader, a
touchpad, a keypad, a voice command, or a vision-based recognition.
Upon completion the vehicles 604 may then report a completion of
the request to the fleet management module 601 and be reassigned to
a subsequent request.
[0111] In some embodiments, the autonomous fleet may be
strategically positioned throughout a geographic region in
anticipation of a known demand. Demand for autonomous or
semi-autonomous vehicle services may be predicted by storing
historical demand data relating to the quantity, timing, and type
of request received in each region. Such demand predictions may
further be weighted by the cost or importance of the good or
service and employ historical trends for higher efficiency and
throughput. As such, the fleet management module may position the
autonomous or semi-autonomous vehicles as close as possible to the
expected source locations.
[0112] In some embodiments, a request is sent by the customer 603
or the service provider 605 to a central server 602. The central
server 602 may then communicates with the fleet management module
601. The fleet management module 601 may then relay the request to
the appropriate service provider 605, one or more of the vehicles
604, or both. The one or more vehicles 604 may comprise the
sub-fleet. The one or more vehicles 604 may be within the
geographic region and/or closest to the service provider 605 or the
customer 603. The one or more vehicles 604 may then be assigned the
task. The service provider 605 may then interact with the one more
of the vehicles 604 through a business application. The one or more
of the vehicles 604 may then travel to a requested location to
perform the service (e.g., road audit, traffic signage survey, the
requested land survey, etc.). Upon completion of the service, the
one or more of the vehicles 604 may then report completion of the
assignment to the customer 603, the fleet management module 601,
the service provider 605, or any combination thereof. The one or
more of the vehicles 604 may then re-assigned by the fleet
management module 601.
[0113] Per FIG. 7, the fleet management module 701 instructs the
processor 703 of the autonomous or semi-autonomous vehicle via a
communication module 702. The processor 703 may be configured to
send an instruction and receive a sensed data from the sensor
system 706, and may further control at least one of the power
system 707, the navigation module 705, and the propulsion system
704. The processor 703 may additionally be configured to instruct a
controller 708 to open a securable compartment 709 to release any
contents associated with an order. The processor 703 may allow
manual override of the propulsion system 704, the navigational
system 705, or both.
[0114] In some embodiments, the processor 703 is in functional
communication with the communication module 702. In some
embodiments, the communication module 702 is adapted to receive,
store, and/or transmit data to and from the customer and the fleet
management module 701. In some embodiments, the data comprises a
schedule, a request or order, a current location, a delivery
location, a service provider location, a route, an estimated time
of arrival (ETA), a repositioning instruction, a vehicle condition,
a vehicle speed, or any combination thereof. In some embodiments,
the processor 703 is capable of both high-level computing for
processing as well as low-level safety-critical computing capacity
for controlling the hardware. The processor 703 may configured to
direct the propulsion system 704, the navigation module 705, the
sensor system 706, the power system 707, the controller 708, or any
combination thereof. The processor 703 may reside aboard the
autonomous or semi-autonomous vehicle, or at a remote location.
[0115] In some embodiments, the communication module 702 is
configured to receive, store and transmit data via wireless
transmission (e.g., 4G, 5G, or satellite communications). In some
embodiments, the wireless transmission occurs via: a central
server, a fleet management module, a mesh network, or any
combination thereof. In some embodiments, the customer application
is configured to send and receive data via an electronic device
comprising a phone, a personal mobile device, a personal digital
assistant (PDA), a mainframe computer, a desktop computer, a laptop
computer, a tablet computer, and/or wearable computing device
comprising: a communication headset, smart glasses, or a
combination thereof.
[0116] In some embodiments, the fleet management module 701 directs
each of the vehicles through a navigation module 705. In some
embodiments, the navigation module 705 controls the propulsion
system 704 to translate the autonomous or semi-autonomous vehicle
through the unstructured open or closed environments. In some
embodiments, the navigation module 705 comprises an HD maps, a
weather condition, an elevation map, a digital map, a street view
photograph, a GPS point, or any combination thereof. In some
embodiments, the map is generated by a customer, a customer, a
service provider, a fleet operator, an online repository, a public
database, or any combination thereof. In some embodiments, the map
is generated only for intended operational geography. The maps may
be augmented or confirmed by data obtained by the sensor system
706. The navigation module 705 may further implement data collected
by the sensor system 706 to determine the location and/or the
surroundings of the autonomous or semi-autonomous vehicle. In some
embodiments, the map further comprises a navigation marker
comprising a lane, a road sign, an intersection, a grade, or any
combination thereof. As such the navigation module 705, in
combination with processors and/or applications vehicles, enables a
safe, robust navigation trajectory.
[0117] In some embodiments, the fleet management module 701 is
configured to determine and predict a geographic demand for the
autonomous or semi-autonomous vehicles for strategic placement
throughout a geographic region in anticipation of a known demand.
The fleet management module 701 may determine and predict a
geographic demand by storing data relating the location, quantity,
time, price, item, item type, service, service type, service
provider, or any combination thereof of placed orders and requests.
Further, the service provider may provide independently measured
trends to supplement or augment the measured trends. As such, the
vehicles may be strategically placed to reduce transit and idle
time and to increase sales volume and efficiency.
[0118] FIG. 8 is a flowchart of another exemplary fleet control
module. As seen, the fleet control module may comprise a processor
810, a propulsion system 820, a navigation module 830, a sensor
system 840, a communication module 850, a first software module
861, a second software module 862, a third software module 863, and
a fourth software module 864.
[0119] At least one processor 810 may manage and processing the
various inputs and outputs from the propulsion system 820, the
power system, the navigation module 830, the sensor system 840, the
at least one communication module 850, and the plurality of
software modules 861, 862, 863, and 864. The first software module
861 may apply one or more algorithms to data from the plurality of
sensors in the sensor system 840 to manage lane positioning of the
autonomous or semi-autonomous vehicle by determining the edges or
boundaries of a navigable pathway and position the autonomous or
semi-autonomous vehicle within a specified distance from one or
more of said edges or boundaries. The second software module 862
may apply one or more algorithms to data from the navigation module
830. The second software module 862 may act in parallel to the
first software module 182 to manage lane positioning of the
autonomous or semi-autonomous vehicle in the unstructured open
environment by confirming the position of the vehicle, relative to
a known (digital) map and geo-positioning provided by the
navigation module 830. The third software module 863 may apply one
or more algorithms to data collected from the sensor system 840 to
measure one or more of: a speed of a lead vehicle; a distance apart
from a lead vehicle; a road conditions, a detected obstacle above,
below, or on either side of the vehicle, a traffic congestion, and
a weather condition. The fourth software module 864 may apply one
or more algorithms to data from the plurality of sensors in the
sensor system 840, in parallel to the third software 863 module and
the navigation module 830, to generate a platooning (convoying)
behavior, by modifying the position and speed of the vehicle in
response to the lead vehicle, the navigable pathway conditions and
detected obstacles or environmental conditions causing the vehicle
to draft behind the lead vehicle.
[0120] In some embodiments, the first software module 861 is
configured to assimilate data from the sensors 840, to coordinate
with the second software module 862 and navigation module 830 to
enable the propulsion system 820 to position the autonomous or
semi-autonomous vehicle at or about a position between the left
edge or left boundary and the right edge or right boundary of the
navigable pathway. In some embodiments the first software module
861 is configured to position the autonomous or semi-autonomous
vehicle in the center of the lane to provide maximum distance to
left and right sides; (e.g., when going through intersections).
[0121] In some embodiments, the third software module 863 is
configured to compile and assess data acquired from the plurality
of sensors 840 to enable the digital processing device 810 to
generate an appropriate response from the navigation module 830 and
the propulsion system 820 with respect to the lead vehicle and
environmental conditions. The environmental conditions may
comprise: the speed of the adjacent lead vehicle; the road
conditions (road damage, wet/dry roads, etc.); the vehicle location
within a navigable pathway; the distance apart from adjacent
vehicles, vehicles or obstacles; the navigable pathway, waterway or
airspace environmental conditions; the detected obstacles within
the environment near to, above, below, or on either side of the
lead vehicle, an approaching the vehicle; a traffic congestion; a
detected weather conditions. The third software module 863 may
apply one or more algorithms to the sensed data to determine
corrective adjustments to the lane position and speed of the
autonomous or semi-autonomous vehicle to safely navigate through
said environmental conditions.
[0122] In some embodiments, the third software module 863 enables
the vehicle to slow down or stop when environmental conditions are
not detectable, or when the digital processing device 810 is unable
to determine or understand the environmental conditions provided by
the sensors 840.
[0123] In some embodiments, the fourth software module 864 is
configured to activate when a human-operated lead vehicle is
present, the vehicle operates as part of a fleet or a sub-fleet,
wherein more than one vehicle platoons to a common destination at
the same time, or when there is more than one autonomous or
semi-autonomous vehicle simultaneously sharing at least a portion
of a route.
[0124] In some embodiments, the fourth software module 864 is
configured to activate in response to environmental conditions
wherein safety of the autonomous or semi-autonomous vehicle is in
question and/or environmental conditions suggest conservative
operating behavior. Such conditions may include severe weather,
narrow roads, tunnels, questionable road conditions, etc. In some
embodiments, the environmental conditions suggesting conservative
operating behavior comprise: poor weather conditions; road
construction; traffic accidents; crowded road conditions; high
pedestrian traffic; narrow lanes/roads; school zones; hospital
zones; unidentified obstacles in the road; or when the vehicle is
uncertain because the digital processing device cannot determine an
alternative safe operating mode. In some embodiments, an
environmental condition suggesting conservative operating behavior
further comprises the inability of the vehicle to determine
discernible edges or boundaries of the navigable pathway, thus
requiring platooning or convoying behind a non-autonomous vehicle
operated by a human operator, an autonomous or semi-autonomous
vehicle, or (non-fleet) lead vehicle.
[0125] In some embodiments, the fourth software module 864 further
comprises algorithms configured for the platoon to effectively and
efficiently negotiate turns in navigable pathways. A platoon
shadowing technique may be employed, such that a vehicle following
the lead vehicle moves into a position abaft the lead vehicle and
travels at or about the same speed. This platooning reduces
residual air resistance behind the lead vehicle, and thus fuel
consumption for the trailing vehicles.
[0126] In some embodiments, the vehicle sensory systems may monitor
and adjust for how much room the vehicle has on each side within
the lane, and what exists adjacent to the vehicle within the lane.
For example, if the vehicle is passing a parked cars and it knows
it is in a potentially difficult situation, then its algorithms may
attempt to cause the vehicle to generate space between itself and
the parked cars. Hence, it may want to closely hug the left side of
the lane. However, if no such parked cars exist or the lane is very
wide, then it doesn't need to hug the left side of the lane. Thus,
lateral distance to objects is a key consideration and an objective
the vehicle is trying to maximize (or at least keep above a certain
safety threshold, which is based on the vehicle speed and the
anticipated (maximum) lateral speed of other objects; (e.g., how
quickly a pedestrian could walk out suddenly from behind a parked
car)).
[0127] In some embodiments, a safety condition suggesting
conservative operating behavior further comprises configuring the
fleet vehicle to platoon (convoy) behind another non-fleet
autonomous or semi-autonomous vehicle. In some embodiments, the
autonomous or semi-autonomous vehicle is a larger vehicle that may
provide an early warning to the vehicle and to other road
users.
[0128] In some embodiments, the fourth (platooning behavior)
software module 864 is not executed by the at least one processor
when the lead vehicle is: a bicycle; a motorcycle; narrower than
the autonomous or semi-autonomous vehicle; moving faster than the
top speed of the autonomous or semi-autonomous vehicle; or wherein
the edges or boundaries of a navigable pathway are not consistently
discernible; or wherein there is a conflict between the navigation
module 830 (e.g., digital maps, GPS, etc.) and the sensors 840
configured to detect the edges or boundaries of a navigable
pathway.
[0129] In some embodiments, the platforms, systems, media, and
methods disclosed herein include at least one computer program, or
use of the same. A computer program includes a sequence of
instructions, executable in the digital processing device's CPU,
written to perform a specified task. Computer readable instructions
may be implemented as program modules, such as functions, objects,
Application Programming Interfaces (APIs), data structures, and the
like, that perform particular tasks or implement particular
abstract data types. In light of the disclosure provided herein,
those of skill in the art will recognize that a computer program
may be written in various versions of various languages.
[0130] The functionality of the computer readable instructions may
be combined or distributed as desired in various environments. In
some embodiments, a computer program comprises one sequence of
instructions. In some embodiments, a computer program comprises a
plurality of sequences of instructions. In some embodiments, a
computer program is provided from one location. In other
embodiments, a computer program is provided from a plurality of
locations. In various embodiments, a computer program includes one
or more software modules. In various embodiments, a computer
program includes, in part or in whole, one or more web
applications, one or more mobile applications, one or more
standalone applications, one or more web browser plug-ins,
extensions, add-ins, or add-ons, or combinations thereof.
[0131] In some embodiments, the platforms, systems, media, and
methods disclosed herein include software, server, and/or database
modules, or use of the same. In view of the disclosure provided
herein, software modules are created by techniques known to those
of skill in the art using machines, software, and languages known
to the art. The software modules disclosed herein are implemented
in a multitude of ways. In various embodiments, a software module
comprises a file, a section of code, a programming object, a
programming structure, or combinations thereof. In further various
embodiments, a software module comprises a plurality of files, a
plurality of sections of code, a plurality of programming objects,
a plurality of programming structures, or combinations thereof. In
various embodiments, the one or more software modules comprise, by
way of non-limiting examples, a web application, a mobile
application, and a standalone application. In some embodiments,
software modules are in one computer program or application. In
other embodiments, software modules are in more than one computer
program or application. In some embodiments, software modules are
hosted on one machine. In other embodiments, software modules are
hosted on more than one machine. In further embodiments, software
modules are hosted on cloud computing platforms. In some
embodiments, software modules are hosted on one or more machines in
one location. In other embodiments, software modules are hosted on
one or more machines in more than one location.
System for Navigation within a Plurality of Navigable Pathways
[0132] Provided herein, per FIG. 9, is an system for navigation
within a plurality of navigable pathways within an unstructured
open environment. The system may comprise a server processor 910,
an autonomous or semi-autonomous fleet, and a non-transitory
computer-readable storage media encoded with a computer program
including instructions executable by a processor to create an
application 930.
[0133] The server processor 910 may be configured to provide a
fleet management module application.
[0134] The autonomous or semi-autonomous fleet may comprise a
plurality of autonomous or semi-autonomous vehicles 920. Each
autonomous or semi-autonomous vehicle 920 may comprise: a sensor
system 921, a location sensor 922, a communication device 923, and
an autonomous or semi-autonomous propulsion system 924. The sensor
system 921 may comprise a plurality of sensors. Each sensor may be
configured to measure a sensed data. The location sensor 922 may be
configured to measure a locational data. The sensor may comprise a
camera, a video camera, a LiDAR, a RADAR, an ultrasonic sensor, a
microphone, or any combination thereof. The location sensor 922 may
comprise a GPS sensor, a compass, or any combination thereof.
[0135] The communication device 923 may be configured to receive a
fleet instruction from the fleet management module application 930.
The fleet instruction may comprise a route, a destination, a sensor
activity, a driving parameter, a platooning parameter. At least one
of the route and the destination may comprise a GPS coordinate, a
map, a time, or any combination thereof. The driving parameter may
comprise a maximum driving speed, a maximum acceleration, a minimum
acceleration, a power usage parameter, or any combination thereof.
The platooning parameter may comprise a drafting proximity, a
drafting proximity adjustment speed, a drafting proximity
adjustment acceleration, or any combination thereof. The
communication device 923 may be further configured to transmit at
least one of the sensed data and the location data to the fleet
management module application 930.
[0136] In some embodiments, each of the autonomous or
semi-autonomous vehicles 920 further comprises an energy storage
device. The energy storage device may be configured to provide a
power to at least one of the sensor system 921, the location sensor
922, the communication device 923, and the autonomous or
semi-autonomous propulsion system 924. The energy storage device
may comprise a battery, a capacitor, a supercapacitor, or any
combination thereof. Each of the autonomous or semi-autonomous
vehicles 920 may further an energy collection unit configured to
collect a solar, wind, or thermal energy and transmit the collected
energy to the energy storage device.
[0137] The application 930 may comprise a database 931, a lane
position detection module 932, a location detection module 933, and
a navigation module 934. The database 931 may comprise a map of the
plurality of navigable pathways within the unstructured open
environment. The map may comprise a plurality of GPS positions
associated with a plurality of points within the navigable
pathways. The map may comprise a navigable path lane center GPS
coordinate, vector, or both. The map may further comprise a
navigable path lane boundary GPS coordinate, vector, or both.
[0138] The lane position detection module 932 may determine a
boundary of the navigable pathway. The boundary of the navigable
pathway may comprise a lane boundary, a road boundary, a sidewalk,
a partition, or any combination thereof. The lane position
detection module 932 may determine the boundary of the navigable
pathway based at least on the sensed data. The lane position
detection module 932 may continually determine the boundary of the
navigable pathway in real-time. In some embodiments, the boundary
of the navigable pathway comprises a left boundary and a right
boundary, and wherein the navigation module commands the autonomous
or semi-autonomous propulsion system 924 to navigate between the
left boundary and the right boundary. The location detection module
933 may determine a position of the autonomous or semi-autonomous
vehicle 920. The location detection module 933 may determine the
position of the autonomous or semi-autonomous vehicle 920 based at
least on one or more of the map, the locational data, and the
sensed data. The position may comprise a GPS position, a relative
position, or any combination thereof. In some embodiments, the lane
position detection module 932 and the location detection module 933
determine in parallel.
[0139] The navigation module 934 may command the autonomous or
semi-autonomous propulsion system 924 to navigate within the
plurality of navigable pathways. The navigation module 934 may
command the autonomous or semi-autonomous propulsion system 924 to
navigate within the plurality of navigable pathways based at least
on one or more of the boundary of the navigable pathway, the
position of the autonomous or semi-autonomous vehicle 920, the
sensed data, and the fleet instruction. In some embodiments, the
location detection module 933 confirms the position of the
autonomous or semi-autonomous vehicle 920 based on the boundary of
the navigable pathway and the map.
[0140] In some embodiments, at least one of the plurality of
autonomous or semi-autonomous vehicles 920 in the autonomous or
semi-autonomous fleet comprises a lead autonomous or
semi-autonomous vehicle 920. In some embodiments, at three or more
of the plurality of autonomous or semi-autonomous vehicles 920 form
a hierarchy of lead autonomous or semi-autonomous vehicles 920. In
some embodiments the hierarchy of lead autonomous or
semi-autonomous vehicles 920 comprises a primary lead autonomous or
semi-autonomous vehicle and a secondary lead autonomous or
semi-autonomous vehicle. The primary lead autonomous or
semi-autonomous vehicle 920 may lead the secondary lead autonomous
or semi-autonomous vehicle 920, wherein the secondary lead
autonomous or semi-autonomous vehicle 920 leads one or more
autonomous or semi-autonomous vehicles 920. The lead autonomous or
semi-autonomous vehicle 920 may be directed along a route or
pathway determined or received by the server processor. The
non-lead autonomous or semi-autonomous vehicles 920 may navigate
solely or in part based on the location of the lead autonomous or
semi-autonomous vehicle 920. FIG. 5 shows an exemplary diagram of a
fleet of autonomous or semi-autonomous vehicles 101 comprising a
lead vehicle 500.
[0141] In some embodiments, the application 930 further comprises a
lead position detection module. In some embodiments, the lead
position detection module determines a position, a velocity, or
both, of the lead autonomous or semi-autonomous vehicle 920. In
some embodiments, the lead position detection module determines a
position, a velocity, or both, of the primary lead autonomous or
semi-autonomous vehicle 920, the secondary lead autonomous or
semi-autonomous vehicle 920, or both. In some embodiments, the lead
position detection module determines a position, a velocity, or
both, of the lead autonomous or semi-autonomous vehicle 920 based
at least on one or more of the sensed data and the fleet
instruction.
[0142] In some embodiments, the application 930 further comprises a
platooning module. The platooning module may determine a drafting
proximity adjustment. The platooning module may determine a
drafting proximity adjustment based at least on the position, the
velocity, or both, of the lead autonomous or semi-autonomous
vehicle 920. The platooning module may determine a drafting
proximity adjustment. The drafting proximity adjustment may
comprise a vector from one autonomous or semi-autonomous vehicle
920 to the lead autonomous or semi-autonomous vehicle 920. The
drafting proximity adjustment may additionally or alternatively
comprise a velocity, a time, a distance, or any combination thereof
necessary for one autonomous or semi-autonomous vehicle 920 to
position itself with a set drafting proximity from the lead
autonomous or semi-autonomous vehicle 920. The set drafting
proximity may comprise a physical distance between the autonomous
or semi-autonomous vehicle 920 and the lead autonomous or
semi-autonomous vehicle 920 during transit. The set drafting
proximity may be configured to enable drafting of one autonomous or
semi-autonomous vehicle 920 behind the lead autonomous or
semi-autonomous vehicle 920 in the direction of travel. The set
drafting proximity may be dependent upon the velocity and/or the
acceleration of the autonomous or semi-autonomous vehicle 920, the
lead autonomous or semi-autonomous vehicle 920, or both. The set
drafting proximity may be about 1 foot, about 2 feet, about 3 feet,
about 4 feet, about 5 feet, about 6 feet, about 8 feet, about 10
feet, or any increment therein. The set drafting proximity may at
least about 1 foot.
[0143] In some embodiments, the navigation module further commands
the autonomous or semi-autonomous propulsion system 924 based on
the drafting proximity adjustment. In some embodiments, the
navigation module commands the autonomous or semi-autonomous
propulsion system 924 based on the drafting proximity adjustment
when the drafting proximity adjustment is within a set threshold.
The set threshold may comprise a predetermined maximum distance
between one autonomous or semi-autonomous vehicle 920 and the lead
autonomous or semi-autonomous vehicle 920. The set threshold may
further or alternatively comprise a predetermined maximum drafting
proximity adjustment beyond which platooning is inefficient. For
example, if the distance between the autonomous or semi-autonomous
vehicle 920 and the lead autonomous or semi-autonomous vehicle 920
is 50 feet, the advantages associated with platooning may outweigh
the costs associated with performing the drafting proximity
adjustment. As another example, if the distance between the
autonomous or semi-autonomous vehicle 920 and the lead autonomous
or semi-autonomous vehicle 920 is 2 miles, the advantages
associated with platooning may not outweigh the costs associated
with performing the drafting proximity adjustment. The
predetermined maximum distance may be about 30 feet, about 40 feet,
about 50 feet, about 75 feet, about 100 feet, about 150 feet, about
200 feet, or any increment therein. The predetermined maximum
distance may be at least about 20 feet. The predetermined maximum
drafting proximity adjustment may comprise a velocity change of
about 5 mph (miles per hour), 6 mph, 8 mph, 10 mph, 15 mph, 20 mph,
30 mph or any increment therein. The predetermined maximum drafting
proximity adjustment may comprise a velocity change of at least
about 5 mph.
[0144] In some embodiments, the application 930 further comprises a
driving safety module. The driving safety module may detect a
hazard based at least on the sensed data. The hazard may comprise
at least one of a weather condition, a manned vehicle position, and
an obstacle. In some embodiments, the driving safety module further
determines a corrective maneuver. The corrective maneuver may
comprise an acceleration, a deceleration, a stop, a turn, a
reverse, or any combination thereof. In some embodiments, the
driving safety module further determines a corrective maneuver
based on the hazard. In some embodiments, the navigation module
further commands the autonomous or semi-autonomous propulsion
system 924 based on the corrective maneuver.
[0145] Also provided herein, per FIG. 10, is an system for
navigation within a plurality of navigable pathways within an
unstructured open environment, the system comprising a server
processor 1010, an autonomous or semi-autonomous fleet, and a
non-transitory computer-readable storage media encoded with a
computer program including instructions executable by a processor
to create an application 1030.
[0146] The server processor 1010 may be configured to provide a
fleet management module application 1030.
[0147] The autonomous or semi-autonomous fleet may comprise a
plurality of autonomous or semi-autonomous vehicles 1020. At least
one of the plurality of autonomous or semi-autonomous vehicles 1020
may comprise a lead autonomous or semi-autonomous vehicle. In some
embodiments, at three or more of the plurality of autonomous or
semi-autonomous vehicles 1020 form a hierarchy of lead autonomous
or semi-autonomous vehicles 1020. In some embodiments the hierarchy
of lead autonomous or semi-autonomous vehicles 1020 comprises a
primary lead autonomous or semi-autonomous vehicle and a secondary
lead autonomous or semi-autonomous vehicle. The primary lead
autonomous or semi-autonomous vehicle 1020 may lead the secondary
lead autonomous or semi-autonomous vehicle 1020, wherein the
secondary lead autonomous or semi-autonomous vehicle 1020 leads one
or more autonomous or semi-autonomous vehicles 1020. The lead
autonomous or semi-autonomous vehicle 1020 may be directed along a
route or pathway determined or received by the server processor.
The non-lead autonomous or semi-autonomous vehicles 1020 may
navigate solely or in part based on the location of the lead
autonomous or semi-autonomous vehicle 1020.
[0148] Each autonomous or semi-autonomous vehicle 1020 may comprise
a sensor system 1021, a location sensor 1022, a communication
device 1023, and an autonomous or semi-autonomous propulsion system
1024. The sensor system 1021 may comprise a plurality of sensors.
The sensors may be configured to measure a sensed data. The
location sensor 1022 may be configured to measure a locational
data. The sensor may comprise a camera, a video camera, a LiDAR, a
RADAR, an ultrasonic sensor, a microphone, or any combination
thereof. The location sensor 1022 may comprise a GPS sensor, a
compass, or any combination thereof.
[0149] The communication device 1023 may be configured to receive a
fleet instruction from the fleet management module application
1030. The fleet instruction may comprise a route, a destination, a
sensor activity, a driving parameter, a platooning parameter. At
least one of the route and the destination may comprise a GPS
coordinate, a map, a time, or any combination thereof. The driving
parameter may comprise a maximum driving speed, a maximum
acceleration, a minimum acceleration, a power usage parameter, or
any combination thereof. The platooning parameter may comprise a
drafting proximity, a drafting proximity adjustment speed, a
drafting proximity adjustment acceleration, or any combination
thereof. The communication device 1023 may be further configured
and to transmit the sensed data to the fleet management module
application 1030. The location sensor 1022 may be configured to
measure a locational data. The communication device 1023 may
comprise a cellular communication device, a Bluetooth communication
device, a Wi-Fi communication device, a wired communication device,
or any combination thereof.
[0150] In some embodiments, each of the autonomous or
semi-autonomous vehicles 1020 further comprises an energy storage
device. The energy storage device may be configured to provide a
power to at least one of the sensor system 1021, the location
sensor 1022, the communication device 1023, and the autonomous or
semi-autonomous propulsion system 1024. The energy storage device
may comprise a battery, a capacitor, a supercapacitor, or any
combination thereof. Each of the autonomous or semi-autonomous
vehicles 1020 may further an energy collection unit configured to
collect a solar, wind, or thermal energy and transmit the collected
energy to the energy storage device.
[0151] The application 1030 may comprise a lead position detection
module 1031 and a navigation module 1032. The lead position
detection module 1031 may determine a position, a velocity, or both
of the lead autonomous or semi-autonomous vehicle 1020. The lead
position detection module 1031 may determine the position, the
velocity, or both of the lead autonomous or semi-autonomous vehicle
1020 based at least on one or more of the sensed data and the fleet
instruction. In some embodiments, the lead position detection
module 1031 determines a position, a velocity, or both, of the
primary lead autonomous or semi-autonomous vehicle 1020, the
secondary lead autonomous or semi-autonomous vehicle 1020, or both.
The navigation module 1032 may command the autonomous or
semi-autonomous propulsion system 1024 to navigate within the
plurality of navigable pathways. The navigation module 1032 may
command the autonomous or semi-autonomous propulsion system 1024 to
navigate within the plurality of navigable pathways based at least
on one or more of the position of the lead autonomous or
semi-autonomous vehicle, the velocity of the lead autonomous or
semi-autonomous vehicle, the sensed data, and the fleet
instruction.
[0152] In some embodiments, the application 1030 further comprises
a platooning module. The platooning module may determine a drafting
proximity adjustment. The platooning module may determine a
drafting proximity adjustment based at least on the position, the
velocity, or both, of the lead autonomous or semi-autonomous
vehicle 1020. The platooning module may determine a drafting
proximity adjustment. The drafting proximity adjustment may
comprise a vector from one autonomous or semi-autonomous vehicle
1020 to the lead autonomous or semi-autonomous vehicle. The
drafting proximity adjustment may additionally or alternatively
comprise a velocity, a time, a distance, or any combination thereof
necessary for one autonomous or semi-autonomous vehicle 1020 to
position itself with a set drafting proximity from the lead
autonomous or semi-autonomous vehicle 1020. The set drafting
proximity may comprise a physical distance between the autonomous
or semi-autonomous vehicle 1020 and the lead autonomous or
semi-autonomous vehicle 1020 during transit. The set drafting
proximity may be configured to enable drafting of one autonomous or
semi-autonomous vehicle 1020 behind the lead autonomous or
semi-autonomous vehicle 1020 in the direction of travel. The set
drafting proximity may be dependent upon the velocity and/or the
acceleration of the autonomous or semi-autonomous vehicle 1020, the
lead autonomous or semi-autonomous vehicle 1020, or both. The set
drafting proximity may be about 1 foot, about 2 feet, about 3 feet,
about 4 feet, about 5 feet, about 6 feet, about 8 feet, about 10
feet, or any increment therein. The set drafting proximity may at
least about 1 foot.
[0153] In some embodiments, the navigation module further commands
the autonomous or semi-autonomous propulsion system 1024 based on
the drafting proximity adjustment. In some embodiments, the
navigation module commands the autonomous or semi-autonomous
propulsion system 1024 based on the drafting proximity adjustment
when the drafting proximity adjustment is within a set threshold.
The set threshold may comprise a predetermined maximum distance
between one autonomous or semi-autonomous vehicle 1020 and the lead
autonomous or semi-autonomous vehicle 1020. The set threshold may
further or alternatively comprise a predetermined maximum drafting
proximity adjustment beyond which platooning is inefficient. For
example, if the distance between the autonomous or semi-autonomous
vehicle 1020 and the lead autonomous or semi-autonomous vehicle
1020 is 50 feet, the advantages associated with platooning may
outweigh the costs associated with performing the drafting
proximity adjustment. As another example, if the distance between
the autonomous or semi-autonomous vehicle 1020 and the lead
autonomous or semi-autonomous vehicle 1020 is 2 miles, the
advantages associated with platooning may not outweigh the costs
associated with performing the drafting proximity adjustment. The
predetermined maximum distance may be about 30 feet, about 40 feet,
about 50 feet, about 75 feet, about 100 feet, about 150 feet, about
200 feet, or any increment therein. The predetermined maximum
distance may be at least about 20 feet. The predetermined maximum
drafting proximity adjustment may comprise a velocity change of
about 5 mph (miles per hour), 6 mph, 8 mph, 10 mph, 15 mph, 20 mph,
30 mph or any increment therein. The predetermined maximum drafting
proximity adjustment may comprise a velocity change of at least
about 5 mph.
[0154] In some embodiments, the application 1030 further comprises
a driving safety module. The driving safety module may detect a
hazard. The driving safety module may detect the hazard based at
least on the sensed data. The hazard may comprise at least one of a
weather condition, a manned vehicle position, and an obstacle. In
some embodiments, the driving safety module further determines a
corrective maneuver. The corrective maneuver may comprise an
acceleration, a deceleration, a stop, a turn, a reverse, or any
combination thereof. In some embodiments, the driving safety module
further determines the corrective maneuver based on the hazard. In
some embodiments, the navigation module 1032 further commands the
autonomous or semi-autonomous propulsion system 1024. In some
embodiments, the navigation module 1032 further commands the
autonomous or semi-autonomous propulsion system 1024 based on the
corrective maneuver.
Navigation Module
[0155] In some embodiments, the navigation system controls routing
of the propulsion system of the vehicles in the fleet in the
unstructured open environment.
[0156] Each vehicle in the fleet may comprise a navigation module
for navigation in the unstructured open environment. In some
embodiments, the fleet relies on maps generated by the user,
operator or fleet operator, specifically created to cover the
intended environment where the vehicle is configured to operate.
These maps may then be used for general guidance of each vehicle in
the fleet. Each vehicle in the fleet may augment this understanding
of the environment by using a variety of on-board sensors such as
cameras (still frame and video), LiDAR sensors, altimeters, depth
finders or radar to confirm its relative geographic position,
elevation and position of obstacles in its path or nearby
surroundings.
[0157] In some embodiments, the vehicle or system employs internal
maps to provide route, geographical and road structure information
combined with information received from onboard sensors. Internal
computers may process this data to constantly determine where the
vehicle may safely navigate, and what other objects are around each
vehicle. In still other embodiments, the fleet may incorporate
on-line maps to augment internal maps. This information may then be
combined to determine and execute a safe and robust vehicle
trajectory. In some embodiments, the fleet relies on a global
positioning system (GPS) to determine the exact location and
velocity of the vehicles 24 hours a day.
[0158] In some embodiments, the fleet of vehicles may employ a
combination of internal (digital) maps, sensors, and GPS systems to
confirm its relative geographic position and elevation. In some
embodiments, the fleet of vehicles may employ a combination of
internal (digital) maps, sensors, GPS systems and any one or more
of the internal visual sensors (e.g., still and video cameras
[running at a high frame rate]) observed by a remote user, to
confirm its relative geographic position and elevation.
[0159] In some embodiments, the autonomous fleet is strategically
positioned throughout a geographic region in anticipation of a
known demand. Over time, a user and/or a vendor may anticipate
demand for vehicle services by storing data concerning how many
orders, and what type of orders, are made at particular times of
day from different areas of the region. This may be done for both
source (e.g., client lists, general businesses, etc.) and
destination (e.g., construction sites, urban development plans,
etc.). Then, for a specific month, week, day, or time, this stored
data may be used to determine the optimal location of the fleet
given the expected demand. The fleet may be positioned to be as
close as possible to the expected source locations, anticipating
these source locations may be the most likely new orders to come
into the system. In some embodiments, the positioning of vehicles
may be customized based on: anticipated use, a pattern of
historical behaviors, or vehicle configurations with specific
sensor packages.
Propulsion Systems
[0160] Each vehicle in the fleet may comprise a propulsion system
(e.g., a drive system with a propulsion engine, wheels, treads,
wings, rotors, blowers, rockets, propellers, brakes, etc.).
[0161] The fleet may be configured for land, water, or air. Typical
vehicles include cars, wagons, vans, unmanned motor vehicles (e.g.,
tricycles, trucks, trailers, buses, etc.), unmanned railed vehicles
(e.g., trains, trams, etc.), unmanned watercraft (e.g., ships,
boats, ferries, landing craft, barges, rafts, etc.), aerial drones,
unmanned hovercraft (air, land and water types), unmanned aircraft,
and unmanned spacecraft.
[0162] In one exemplary embodiment, the land vehicle is configured
with a traditional 4-wheeled automotive configuration comprising
steering and braking systems. The drive train may comprise a
2-wheel drive or a 4-wheel drive. The propulsion system (engine)
may be a gas engine, a turbine engine, an electric motor, a hybrid
gas/electric engine, or any combination thereof. Alternatively, the
vehicle may be configured with an auxiliary solar power system to
provide back-up emergency power or power for minor low-power
sub-systems. Alternative or additional propulsion systems may
comprise wheels, treads, wings, rotors, blowers, rockets,
propellers, brakes, or any combination thereof.
[0163] In some embodiments, the fleet is configured for water
travel as a watercraft with a propulsion system (engine) that is
configured as a gas engine, a turbine engine, an electric motor,
and/or a hybrid gas/electric engine and is further configured with
a propeller. In some embodiments, when the vehicle is configured
for water travel, it is further configured to monitor, collect, and
report data, (e.g., water sample analysis). For example, the fleet
is configured to monitor and report conditions in public waterways,
canals, dams, and lakes. Alternately the fleet is configured to
monitor and report conditions in flood disaster areas. In some
embodiments, the fleet is configured for hover travel as an
over-land or over-water hovercraft, also sometimes referred to as
an air-cushion vehicle (ACV) and is configured with blowers to
produce a large volume of air below the hull that is slightly above
atmospheric pressure. The propulsion system (engine) is configured
as a gas engine, a turbine engine, an electric motor, and/or a
hybrid gas/electric engine. In some embodiments, the fleet is
configured for air travel as an aerial drone or aerial hovercraft
and is configured with wings, rotors, blowers, rockets, and/or
propellers and an appropriate brake system. The propulsion system
(engine) is configured as a gas engine, a turbine engine, an
electric motor, and/or a hybrid gas/electric engine. In some
embodiments, each vehicle of the fleet is configured with one or
more power sources, which comprise the power system (e.g., battery,
solar, gasoline, propane, hybrid, etc.).
Sensor Systems
[0164] Each vehicle may be equipped with a sensor system,
comprising a plurality of sensors comprising a still camera, a
video camera (which may run at a high frame rate0, a LiDAR, a
radar, an ultrasonic sensor, a microphone, an altimeter, a depth
finder, a laser range finder, or any combination thereof. An
internal computer may process the sensed data collected by the
sensor system to constantly determine safe navigation paths and to
detect surrounding objects, what other objects are around each
vehicle and what it may do within its immediate surroundings.
[0165] In some embodiments, each vehicle is equipped with a sensor
system comprising a plurality of sensors configured to assess the
environment around the vehicle; (e.g., temperature sensors,
humidity sensors, rainfall sensors, wind sensors, UV sensors,
etc.).
[0166] In some embodiments, each autonomous or semi-autonomous
vehicle within the fleet is equipped with a sensor system
comprising plurality of sensors configured to assess a variety of
different environmental conditions around the vehicle. Those
conditions comprise: lighting, weather and atmospheric conditions;
vehicle traffic; pedestrian traffic; moving and stationary
obstacles; navigable pathway, waterway or airway conditions; road
signage, traffic lights and power utilities, general road
conditions, to name but a few.
[0167] In some embodiments, the vehicles of the fleet further
comprise propulsion system sensors configured to: monitor drive
mechanism performance (e.g., the propulsion engine); monitor power
system levels (e.g., battery, solar, fuel, etc.); or monitor drive
train performance (e.g., transmission, tires, treads, brakes,
rotors, jets, blowers, propellers, etc.).
Digital Processing Device
[0168] In some embodiments, the platforms, systems, media, and
methods described herein include a digital processing device, or
use of the same. In further embodiments, the digital processing
device includes one or more hardware central processing units
(CPUs) or general purpose graphics processing units (GPGPUs) that
carry out the device's functions. In still further embodiments, the
digital processing device further comprises an operating system
configured to perform executable instructions. In some embodiments,
the digital processing device is optionally connected a computer
network. In further embodiments, the digital processing device is
optionally connected to the Internet such that it accesses the
World Wide Web. In still further embodiments, the digital
processing device is optionally connected to a cloud computing
infrastructure. In other embodiments, the digital processing device
is optionally connected to an intranet. In other embodiments, the
digital processing device is optionally connected to a data storage
device.
[0169] In accordance with the description herein, suitable digital
processing devices include, by way of non-limiting examples, server
computers, desktop computers, laptop computers, notebook computers,
sub-notebook computers, netbook computers, netpad computers,
set-top computers, media streaming devices, handheld computers,
Internet appliances, mobile smartphones, tablet computers, personal
digital assistants, video game consoles, and vehicles. Those of
skill in the art will recognize that many smartphones are suitable
for use in the system described herein. Those of skill in the art
will also recognize that select televisions, video players, and
digital music players with optional computer network connectivity
are suitable for use in the system described herein. Suitable
tablet computers include those with booklet, slate, and convertible
configurations, known to those of skill in the art.
[0170] In some embodiments, the digital processing device includes
an operating system configured to perform executable instructions.
The operating system is, for example, software, including programs
and data, which manages the device's hardware and provides services
for execution of applications. Those of skill in the art will
recognize that suitable server operating systems include, by way of
non-limiting examples, FreeB SD, OpenB SD, NetBSD.RTM., Linux,
Apple.RTM. Mac OS X Server.RTM., Oracle.RTM. Solaris.RTM., Windows
Server.RTM., and Novell.RTM. NetWare.RTM.. Those of skill in the
art will recognize that suitable personal computer operating
systems include, by way of non-limiting examples, Microsoft.RTM.
Windows.RTM., Apple.RTM. Mac OS X.RTM., UNIX.RTM., and UNIX-like
operating systems such as GNU/Linux. In some embodiments, the
operating system is provided by cloud computing. Those of skill in
the art will also recognize that suitable mobile smart phone
operating systems include, by way of non-limiting examples,
Nokia.RTM. Symbian.RTM. OS, Apple.RTM. iOS.RTM., Research In
Motion.RTM. BlackBerry OS.RTM., Google.RTM. Android.RTM.,
Microsoft.RTM. Windows Phone.RTM. OS, Microsoft.RTM. Windows
Mobile.RTM. OS, Linux.RTM., and Palm.RTM. WebOS.RTM.. Those of
skill in the art will also recognize that suitable media streaming
device operating systems include, by way of non-limiting examples,
Apple TV.RTM., Roku.RTM., Boxee.RTM., Google TV.RTM.,
GoogleChromecast.RTM., Amazon Fire.RTM., and Samsung.RTM.
HomeSync.RTM.. Those of skill in the art will also recognize that
suitable video game console operating systems include, by way of
non-limiting examples, Sony.RTM. PS3.RTM., Sony.RTM. PS4.RTM.,
Microsoft.RTM. Xbox 360.RTM., Microsoft Xbox One, Nintendo.RTM.
Wii.RTM., Nintendo.RTM. Wii U.RTM., and Ouya.RTM..
[0171] In some embodiments, the device includes a storage and/or
memory device. The storage and/or memory device is one or more
physical apparatuses used to store data or programs on a temporary
or permanent basis. In some embodiments, the device is volatile
memory and requires power to maintain stored information. In some
embodiments, the device is non-volatile memory and retains stored
information when the digital processing device is not powered. In
further embodiments, the non-volatile memory comprises flash
memory. In some embodiments, the non-volatile memory comprises
dynamic random-access memory (DRAM). In some embodiments, the
non-volatile memory comprises ferroelectric random access memory
(FRAM). In some embodiments, the non-volatile memory comprises
phase-change random access memory (PRAM). In other embodiments, the
device is a storage device including, by way of non-limiting
examples, CD-ROMs, DVDs, flash memory devices, magnetic disk
drives, magnetic tapes drives, optical disk drives, and cloud
computing based storage. In further embodiments, the storage and/or
memory device is a combination of devices such as those disclosed
herein.
[0172] In some embodiments, the digital processing device includes
a display to send visual information to a user. In some
embodiments, the display is a liquid crystal display (LCD). In
further embodiments, the display is a thin film transistor liquid
crystal display (TFT-LCD). In some embodiments, the display is an
organic light emitting diode (OLED) display. In various further
embodiments, on OLED display is a passive-matrix OLED (PMOLED) or
active-matrix OLED (AMOLED) display. In some embodiments, the
display is a plasma display. In other embodiments, the display is a
video projector. In yet other embodiments, the display is a
head-mounted display in communication with the digital processing
device, such as a VR headset. In further embodiments, suitable VR
headsets include, by way of non-limiting examples, HTC Vive, Oculus
Rift, Samsung Gear VR, Microsoft HoloLens, Razer OSVR, FOVE VR,
Zeiss VR One, Avegant Glyph, Freefly VR headset, and the like. In
still further embodiments, the display is a combination of devices
such as those disclosed herein.
[0173] In some embodiments, the digital processing device includes
an input device to receive information from a user. In some
embodiments, the input device is a keyboard. In some embodiments,
the input device is a pointing device including, by way of
non-limiting examples, a mouse, trackball, track pad, joystick,
game controller, or stylus. In some embodiments, the input device
is a touch screen or a multi-touch screen. In other embodiments,
the input device is a microphone to capture voice or other sound
input. In other embodiments, the input device is a video camera or
other sensor to capture motion or visual input. In further
embodiments, the input device is a Kinect, Leap Motion, or the
like. In still further embodiments, the input device is a
combination of devices such as those disclosed herein.
[0174] Referring to FIG. 11, in a particular embodiment, a digital
processing device 1101 is programmed or otherwise configured to
provide an system for navigation within a plurality of navigable
pathways within an unstructured open environment. The device 1101
may be programmed or otherwise configured to provide an system for
navigation within a plurality of navigable pathways within an
unstructured open environment. In this embodiment, the digital
processing device 1101 includes a central processing unit (CPU,
also "processor" and "computer processor" herein) 1105, which is
optionally a single core, a multi core processor, or a plurality of
processors for parallel processing. The digital processing device
1101 also includes memory or memory location 1110 (e.g.,
random-access memory, read-only memory, flash memory), electronic
storage unit 1115 (e.g., hard disk), communication interface 1120
(e.g., network adapter) for communicating with one or more other
systems, and peripheral devices 1125, such as cache, other memory,
data storage and/or electronic display adapters. The memory 1110,
storage unit 1115, interface 1120 and peripheral devices 1125 are
in communication with the CPU 1105 through a communication bus
(solid lines), such as a motherboard. The storage unit 1115
comprises a data storage unit (or data repository) for storing
data. The digital processing device 1101 is optionally operatively
coupled to a computer network ("network") 1130 with the aid of the
communication interface 1120. The network 1130, in various cases,
is the internet, an internet, and/or extranet, or an intranet
and/or extranet that is in communication with the internet. The
network 1130, in some cases, is a telecommunication and/or data
network. The network 1130 optionally includes one or more computer
servers, which enable distributed computing, such as cloud
computing. The network 1130, in some cases, with the aid of the
device 1101, implements a peer-to-peer network, which enables
devices coupled to the device 1101 to behave as a client or a
server.
[0175] Continuing to refer to FIG. 11, the CPU 1105 is configured
to execute a sequence of machine-readable instructions, embodied in
a program, application, and/or software. The instructions are
optionally stored in a memory location, such as the memory 1110.
The instructions are directed to the CPU 105, which subsequently
program or otherwise configure the CPU 1105 to implement methods of
the present disclosure. Examples of operations performed by the CPU
1105 include fetch, decode, execute, and write back. The CPU 1105
is, in some cases, part of a circuit, such as an integrated
circuit. One or more other components of the device 1101 are
optionally included in the circuit. In some cases, the circuit is
an application specific integrated circuit (ASIC) or a field
programmable gate array (FPGA).
[0176] Continuing to refer to FIG. 11, the storage unit 1115
optionally stores files, such as drivers, libraries and saved
programs. The storage unit 1115 optionally stores user data, e.g.,
user preferences and user programs. The digital processing device
1101, in some cases, includes one or more additional data storage
units that are external, such as located on a remote server that is
in communication through an intranet or the internet.
[0177] Continuing to refer to FIG. 11, the digital processing
device 1101 optionally communicates with one or more remote
computer systems through the network 1130. For instance, the device
1101 optionally communicates with a remote computer system of a
user. Examples of remote computer systems include personal
computers (e.g., portable PC), slate or tablet PCs (e.g.,
Apple.RTM. iPad, Samsung.RTM. Galaxy Tab, etc.), smartphones (e.g.,
Apple.RTM. iPhone, Android-enabled device, Blackberry.RTM., etc.),
or personal digital assistants.
[0178] Methods as described herein are optionally implemented by
way of machine (e.g., computer processor) executable code stored on
an electronic storage location of the digital processing device
101, such as, for example, on the memory 1110 or electronic storage
unit 1115. The machine executable or machine readable code is
optionally provided in the form of software. During use, the code
is executed by the processor 1105. In some cases, the code is
retrieved from the storage unit 1115 and stored on the memory 1110
for ready access by the processor 1105. In some situations, the
electronic storage unit 1115 is precluded, and machine-executable
instructions are stored on the memory 1110.
Non-Transitory Computer Readable Storage Medium
[0179] In some embodiments, the platforms, systems, media, and
methods disclosed herein include one or more non-transitory
computer readable storage media encoded with a program including
instructions executable by the operating system of an optionally
networked digital processing device. In further embodiments, a
computer readable storage medium is a tangible component of a
digital processing device. In still further embodiments, a computer
readable storage medium is optionally removable from a digital
processing device. In some embodiments, a computer readable storage
medium includes, by way of non-limiting examples, CD-ROMs, DVDs,
flash memory devices, solid state memory, magnetic disk drives,
magnetic tape drives, optical disk drives, cloud computing systems
and services, and the like. In some cases, the program and
instructions are permanently, substantially permanently,
semi-permanently, or non-transitorily encoded on the media.
Computer Program
[0180] In some embodiments, the platforms, systems, media, and
methods disclosed herein include at least one computer program, or
use of the same. A computer program includes a sequence of
instructions, executable in the digital processing device's CPU,
written to perform a specified task. Computer readable instructions
may be implemented as program modules, such as functions, objects,
Application Programming Interfaces (APIs), data structures, and the
like, that perform particular tasks or implement particular
abstract data types. In light of the disclosure provided herein,
those of skill in the art will recognize that a computer program
may be written in various versions of various languages.
[0181] The functionality of the computer readable instructions may
be combined or distributed as desired in various environments. In
some embodiments, a computer program comprises one sequence of
instructions. In some embodiments, a computer program comprises a
plurality of sequences of instructions. In some embodiments, a
computer program is provided from one location. In other
embodiments, a computer program is provided from a plurality of
locations. In various embodiments, a computer program includes one
or more software modules. In various embodiments, a computer
program includes, in part or in whole, one or more web
applications, one or more mobile applications, one or more
standalone applications, one or more web browser plug-ins,
extensions, add-ins, or add-ons, or combinations thereof.
Web Application
[0182] In some embodiments, a computer program includes a web
application. In light of the disclosure provided herein, those of
skill in the art will recognize that a web application, in various
embodiments, utilizes one or more software frameworks and one or
more database systems. In some embodiments, a web application is
created upon a software framework such as Microsoft.RTM. .NET or
Ruby on Rails (RoR). In some embodiments, a web application
utilizes one or more database systems including, by way of
non-limiting examples, relational, non-relational, object oriented,
associative, and XML database systems. In further embodiments,
suitable relational database systems include, by way of
non-limiting examples, Microsoft.RTM. SQL Server, mySQL.TM., and
Oracle.RTM.. Those of skill in the art will also recognize that a
web application, in various embodiments, is written in one or more
versions of one or more languages. A web application may be written
in one or more markup languages, presentation definition languages,
client-side scripting languages, server-side coding languages,
database query languages, or combinations thereof. In some
embodiments, a web application is written to some extent in a
markup language such as Hypertext Markup Language (HTML),
Extensible Hypertext Markup Language (XHTML), or eXtensible Markup
Language (XML). In some embodiments, a web application is written
to some extent in a presentation definition language such as
Cascading Style Sheets (CSS). In some embodiments, a web
application is written to some extent in a client-side scripting
language such as Asynchronous Javascript and XML (AJAX), Flash.RTM.
Actionscript, Javascript, or Silverlight.RTM.. In some embodiments,
a web application is written to some extent in a server-side coding
language such as Active Server Pages (ASP), ColdFusion.RTM., Perl,
Java.TM., JavaServer Pages (JSP), Hypertext Preprocessor (PHP),
Python.TM., Ruby, Tcl, Smalltalk, WebDNA.RTM., or Groovy. In some
embodiments, a web application is written to some extent in a
database query language such as Structured Query Language (SQL). In
some embodiments, a web application integrates enterprise server
products such as IBM.RTM. Lotus Domino.RTM.. In some embodiments, a
web application includes a media player element. In various further
embodiments, a media player element utilizes one or more of many
suitable multimedia technologies including, by way of non-limiting
examples, Adobe.RTM. Flash.RTM., HTML 5, Apple.RTM. QuickTime.RTM.,
Microsoft.RTM. Silverlight.RTM., Java.TM., and Unity.RTM..
[0183] Referring to FIG. 12, in a particular embodiment, an
application provision system comprises one or more databases 1200
accessed by a relational database management system (RDBMS) 1210.
Suitable RDBMSs include Firebird, MySQL, PostgreSQL, SQLite, Oracle
Database, Microsoft SQL Server, IBM DB2, IBM Informix, SAP Sybase,
SAP Sybase, Teradata, and the like. In this embodiment, the
application provision system further comprises one or more
application severs 1220 (such as Java servers, .NET servers, PHP
servers, and the like) and one or more web servers 1230 (such as
Apache, IIS, GWS and the like). The web server(s) optionally expose
one or more web services via app application programming interfaces
(APIs) 1240. The system provides browser-based and/or mobile native
user interfaces via a network, such as the internet.
[0184] Referring to FIG. 13, in a particular embodiment, an
application provision system alternatively has a distributed,
cloud-based architecture 1300 and comprises elastically load
balanced, auto-scaling web server resources 1310 and application
server resources 1320 as well synchronously replicated databases
1330.
Mobile Application
[0185] In some embodiments, a computer program includes a mobile
application provided to a mobile digital processing device. In some
embodiments, the mobile application is provided to a mobile digital
processing device at the time it is manufactured. In other
embodiments, the mobile application is provided to a mobile digital
processing device via the computer network described herein.
[0186] In view of the disclosure provided herein, a mobile
application is created by techniques known to those of skill in the
art using hardware, languages, and development environments known
to the art. Those of skill in the art will recognize that mobile
applications are written in several languages. Suitable programming
languages include, by way of non-limiting examples, C, C++, C#,
Objective-C, Java.TM., Javascript, Pascal, Object Pascal,
Python.TM., Ruby, VB.NET, WML, and XHTML/HTML with or without CSS,
or combinations thereof.
[0187] Suitable mobile application development environments are
available from several sources. Commercially available development
environments include, by way of non-limiting examples, AirplaySDK,
alcheMo, Appcelerator.RTM., Celsius, Bedrock, Flash Lite, .NET
Compact Framework, Rhomobile, and WorkLight Mobile Platform. Other
development environments are available without cost including, by
way of non-limiting examples, Lazarus, MobiFlex, MoSync, and
Phonegap. Also, mobile device manufacturers distribute software
developer kits including, by way of non-limiting examples, iPhone
and iPad (iOS) SDK, Android.TM. SDK, BlackBerry.RTM. SDK, BREW SDK,
Palm.RTM. OS SDK, Symbian SDK, webOS SDK, and Windows.RTM. Mobile
SDK.
[0188] Those of skill in the art will recognize that several
commercial forums are available for distribution of mobile
applications including, by way of non-limiting examples, Apple.RTM.
App Store, Google.RTM. Play, Chrome Web Store, BlackBerry.RTM. App
World, App Store for Palm devices, App Catalog for webOS,
Windows.RTM. Marketplace for Mobile, Ovi Store for Nokia.RTM.
devices, Samsung.RTM. Apps, and Nintendo.RTM. DSi Shop.
Standalone Application
[0189] In some embodiments, a computer program includes a
standalone application, which is a program that is run as an
independent computer process, not an add-on to an existing process,
e.g., not a plug-in. Those of skill in the art will recognize that
standalone applications are often compiled. A compiler is a
computer program(s) that transforms source code written in a
programming language into binary object code such as assembly
language or machine code. Suitable compiled programming languages
include, by way of non-limiting examples, C, C++, Objective-C,
COBOL, Delphi, Eiffel, Java.TM., Lisp, Python.TM., Visual Basic,
and VB .NET, or combinations thereof. Compilation is often
performed, at least in part, to create an executable program. In
some embodiments, a computer program includes one or more
executable complied applications.
Web Browser Plug-in
[0190] In some embodiments, the computer program includes a web
browser plug-in (e.g., extension, etc.). In computing, a plug-in is
one or more software components that add specific functionality to
a larger software application. Makers of software applications
support plug-ins to enable third-party developers to create
abilities which extend an application, to support easily adding new
features, and to reduce the size of an application. When supported,
plug-ins enable customizing the functionality of a software
application. For example, plug-ins are commonly used in web
browsers to play video, generate interactivity, scan for viruses,
and display particular file types. Those of skill in the art will
be familiar with several web browser plug-ins including, Adobe.RTM.
Flash.RTM. Player, Microsoft.RTM. Silverlight, and Apple.RTM.
QuickTime.RTM..
[0191] In view of the disclosure provided herein, those of skill in
the art will recognize that several plug-in frameworks are
available that enable development of plug-ins in various
programming languages, including, by way of non-limiting examples,
C++, Delphi, Java.TM., PHP, Python.TM., and VB .NET, or
combinations thereof.
[0192] Web browsers (also called Internet browsers) are software
applications, designed for use with network-connected digital
processing devices, for retrieving, presenting, and traversing
information resources on the World Wide Web. Suitable web browsers
include, by way of non-limiting examples, Microsoft.RTM. Internet
Explorer.RTM., Mozilla.RTM. Firefox, Google.RTM. Chrome, Apple.RTM.
Safari.RTM., Opera Software.RTM. Opera.RTM., and KDE Konqueror. In
some embodiments, the web browser is a mobile web browser. Mobile
web browsers (also called microbrowsers, mini-browsers, and
wireless browsers) are designed for use on mobile digital
processing devices including, by way of non-limiting examples,
handheld computers, tablet computers, netbook computers,
subnotebook computers, smartphones, music players, personal digital
assistants (PDAs), and handheld video game systems. Suitable mobile
web browsers include, by way of non-limiting examples, Google.RTM.
Android.RTM. browser, RIM BlackBerry.RTM. Browser, Apple.RTM.
Safari.RTM., Palm.RTM. Blazer, Palm.RTM. WebOS.RTM. Browser,
Mozilla.RTM. Firefox.RTM. for mobile, Microsoft.RTM. Internet
Explorer.RTM. Mobile, Amazon.RTM. Kindle.RTM. Basic Web, Nokia.RTM.
Browser, Opera Software.RTM. Opera.RTM. Mobile, and Sony.RTM.
PSP.TM. browser.
Software Modules
[0193] In some embodiments, the platforms, systems, media, and
methods disclosed herein include software, server, and/or database
modules, or use of the same. In view of the disclosure provided
herein, software modules are created by techniques known to those
of skill in the art using machines, software, and languages known
to the art. The software modules disclosed herein are implemented
in a multitude of ways. In various embodiments, a software module
comprises a file, a section of code, a programming object, a
programming structure, or combinations thereof. In further various
embodiments, a software module comprises a plurality of files, a
plurality of sections of code, a plurality of programming objects,
a plurality of programming structures, or combinations thereof. In
various embodiments, the one or more software modules comprise, by
way of non-limiting examples, a web application, a mobile
application, and a standalone application. In some embodiments,
software modules are in one computer program or application. In
other embodiments, software modules are in more than one computer
program or application. In some embodiments, software modules are
hosted on one machine. In other embodiments, software modules are
hosted on more than one machine. In further embodiments, software
modules are hosted on cloud computing platforms. In some
embodiments, software modules are hosted on one or more machines in
one location. In other embodiments, software modules are hosted on
one or more machines in more than one location.
Databases
[0194] In some embodiments, the platforms, systems, media, and
methods disclosed herein include one or more databases, or use of
the same. In view of the disclosure provided herein, those of skill
in the art will recognize that many databases are suitable to
provide an system for navigation within a plurality of navigable
pathways within an unstructured open environment. In various
embodiments, suitable databases include, by way of non-limiting
examples, relational databases, non-relational databases, object
oriented databases, object databases, entity-relationship model
databases, associative databases, and XML databases. Further
non-limiting examples include SQL, PostgreSQL, MySQL, Oracle, DB2,
and Sybase. In some embodiments, a database is internet-based. In
further embodiments, a database is web-based. In still further
embodiments, a database is cloud computing-based. In other
embodiments, a database is based on one or more local computer
storage devices.
Terms and Definitions
[0195] As used herein, the phrases "at least one," "one or more,"
and "and/or" are open-ended expressions that are both conjunctive
and disjunctive in operation. For example, each of the expressions
"at least one of A, B and C," "at least one of A, B, or C," "one or
more of A, B, and C," "one or more of A, B, or C," and "A, B,
and/or C" means A alone, B alone, C alone, A and B together, A and
C together, B and C together, or A, B and C together.
[0196] As used herein, the term "fleet," "sub-fleet," and like
terms are used to indicate a number of land vehicles, watercraft,
aircraft or the like, operating together or under the same
ownership. In some embodiments the fleet or sub-fleet is engaged in
the same activity. In some embodiments, the fleet or sub-fleet are
engaged in similar activities. In some embodiments, the fleet or
sub-fleet are engaged in different activities.
[0197] As used herein, the term "vehicle," "vehicle," "fleet,"
"vehicle," "all-terrain vehicle," and like terms are used to
indicate a mobile machine that transports cargo. Typical vehicles
include cars, wagons, vans, unmanned motor vehicles (e.g.,
tricycles, trucks, trailers, buses, etc.), unmanned railed vehicles
(e.g., trains, trams, etc.), unmanned watercraft (e.g., ships,
boats, ferries, landing craft, barges, rafts, etc.), aerial drones,
unmanned hovercraft (air, land and water types), unmanned aircraft,
and even including unmanned spacecraft.
[0198] As used herein, the term "platoon" or "platooning" and like
terms are used to indicate or refer to a behavior exhibited by a
vehicle, wherein the vehicle relies on the vehicle in front of it
to be traveling in a safe, smart path that may be copied and
followed. In this behavior, the lead vehicle acts as an early
warning to both the vehicle and other road users (e.g.,
pedestrians, other drivers, etc.), thus limiting the exposure of
the vehicle and reducing the potential for the vehicle being in a
collision.
[0199] As used herein, the terms "platooning," "convoying," and
like terms, are used to indicate or refer to a grouping of vehicles
(such as a vehicle and a car, truck, van, motorcycle, or bicycle,
etc.) traveling in close proximity to one another on roads or
pathways. This capacity would allow many vehicles to accelerate or
brake simultaneously and provide for closer headway between
vehicles. This behavior may have many benefits including fuel
economy due to reduced air resistance, reduced traffic congestion,
added safety, and benefit of collision avoidance for the trailing
vehicles.
[0200] As used herein, the terms "slipstreaming," "drafting," and
like terms, are used to indicate a condition wherein an area of
reduced pressure or "forward suction" is produced by and
immediately following a fast-moving lead vehicle, thus allowing a
close-following trailing vehicle to conserve energy while
travelling at the same speed. An added benefit of this behavior
occurs when an object is inside the slipstream behind another
object, moving at the same speed, the rear object will require less
power to maintain its speed than if it were moving independently.
In addition, the leading object will be able to move faster than it
could independently, because the rear object reduces the effect of
the low-pressure region on the leading object. A slipstream is
commonly defined as a region behind a moving object in which a wake
of fluid (typically air or water) is moving at velocities
comparable to the moving object, relative to the ambient fluid
through which the object is moving. The term slipstream also
applies to the similar region adjacent to an object with a fluid
moving around it. "Slipstreaming" works because of the relative
motion of the fluid in the slipstream.
[0201] As used herein, the term "user," "operator," "fleet
operator," and like terms are used to indicate the entity that owns
or is responsible for managing and operating the fleet.
[0202] As used herein, the term "customer" and like terms are used
to indicate the entity that requests the services provided the
fleet.
[0203] As used herein, the term "provider," "business," "vendor,"
"third-party vendor," and like terms are used to indicate an entity
that works in concert with the fleet owner or operator to utilize
the services of the fleet to deliver the provider's product from
and or return the provider's product to the provider's place of
business or staging location.
[0204] As used herein, the term "white label," "white label
product," "white label services," "white label provider," and like
terms shall refer to a product or service produced by one company
(the producer) that other companies (the marketers) rebrand to make
it appear as if they had made it.
[0205] As used herein, the term "maximum speed," "maximum speed
range," and like terms shall refer to maximum speeds of which the
vehicle is capable of generating, and permitted, to operate within
the tasked environment, such as: on open roads, bike paths, and
other environments where higher speeds are appropriate.
[0206] As used herein, the term "operating speed" and like terms
shall refer to a full range of speeds within which the vehicle is
capable of operating, (including a full stop, or zero speed), as
determined by the on-board sensors and software which may monitor
environmental conditions, the operating environment, etc. to
determine an appropriate speed at any given time.
[0207] As used herein, and unless otherwise specified, the term
"about" or "approximately" means an acceptable error for a
particular value as determined by one of ordinary skill in the art,
which depends in part on how the value is measured or determined.
In certain embodiments, the term "about" or "approximately" means
within 1, 2, 3, or 4 standard deviations. In certain embodiments,
the term "about" or "approximately" means within 30%, 25%, 20%,
15%, 10%, 9%, 8%, 7%, 6%, 5%, 4%, 3%, 2%, 1%, 0.5%, 0.1%, or 0.05%
of a given value or range. In certain embodiments, the term "about"
or "approximately" means within 40.0 mm, 30.0 mm, 20.0 mm, 10.0 mm
5.0 mm 1.0 mm, 0.9 mm, 0.8 mm, 0.7 mm, 0.6 mm, 0.5 mm, 0.4 mm, 0.3
mm, 0.2 mm or 0.1 mm of a given value or range. In certain
embodiments, the term "about" or "approximately" means within 20.0
degrees, 15.0 degrees, 10.0 degrees, 9.0 degrees, 8.0 degrees, 7.0
degrees, 6.0 degrees, 5.0 degrees, 4.0 degrees, 3.0 degrees, 2.0
degrees, 1.0 degrees, 0.9 degrees, 0.8 degrees, 0.7 degrees, 0.6
degrees, 0.5 degrees, 0.4 degrees, 0.3 degrees, 0.2 degrees, 0.1
degrees, 0.09 degrees. 0.08 degrees, 0.07 degrees, 0.06 degrees,
0.05 degrees, 0.04 degrees, 0.03 degrees, 0.02 degrees or 0.01
degrees of a given value or range. In certain embodiments, the term
"about" or "approximately" means within 0.1 mph, 0.2 mph, 0.3 mph,
0.4 mph, 0.5 mph, 0.6 mph, 0.7 mph, 0.8 mph, 0.9 mph, 1.0 mph, 1.1
mph, 1.2 mph, 1.3 mph, 1.4 mph, 1.5 mph, 1.6 mph, 1.7 mph, 1.8 mph,
1.9 mph, 2.0 mph, 3.0 mph, 4.0 mph or 5.0 mph of a given value or
range.
[0208] As used herein, the term "server," "computer server,"
"central server," "main server," and like terms are used to
indicate a computer or device on a network that manages the fleet
resources, namely the vehicles.
[0209] As used herein, the term "controller" and like terms are
used to indicate a device that controls the transfer of data from a
computer to a peripheral device and vice versa. For example, disk
drives, display screens, keyboards, and printers all require
controllers. In personal computers, the controllers are often
single chips. As used herein the controller is commonly used for
managing access to components of the vehicle such as the securable
compartments.
[0210] As used herein a "mesh network" is a network topology in
which each node relays data for the network. All mesh nodes
cooperate in the distribution of data in the network. It may be
applied to both wired and wireless networks. Wireless mesh networks
may be considered a type of "Wireless ad hoc" network. Thus,
wireless mesh networks are closely related to Mobile ad hoc
networks (MANETs). Although MANETs are not restricted to a specific
mesh network topology, Wireless ad hoc networks or MANETs may take
any form of network topology. Mesh networks may relay messages
using either a flooding technique or a routing technique. With
routing, the message is propagated along a path by hopping from
node to node until it reaches its destination. To ensure that all
its paths are available, the network must allow for continuous
connections and must reconfigure itself around broken paths, using
self-healing algorithms such as Shortest Path Bridging.
Self-healing allows a routing-based network to operate when a node
breaks down or when a connection becomes unreliable. As a result,
the network is typically quite reliable, as there is often more
than one path between a source and a destination in the network.
This concept may also apply to wired networks and to software
interaction. A mesh network whose nodes are all connected to each
other is a fully connected network.
[0211] As used herein, the term "module" and like terms are used to
indicate a self-contained hardware component of the central server,
which in turn comprises software modules. In software, a module is
a part of a program. Programs are composed of one or more
independently developed modules that are not combined until the
program is linked. A single module may contain one or several
routines, or sections of programs that perform a particular task.
As used herein, the terms "module" and "algorithm" and like terms
are also used to indicate a part of a program. Programs are
composed of one or more independently developed modules and/or
algorithms. A single module may contain one or several routines or
algorithms. As used herein the fleet management module comprises
software modules and/or algorithms for managing various aspects and
functions of the fleet.
[0212] As used herein, the term "autonomous" may refer to an
ability to perform one or more processes without direct
intervention. The intervention may be by a human, or by a
commanding processor. They one or more processes may include
driving, obstacle avoidance, navigation, vehicle status
determination, or any combination thereof. An autonomous system or
vehicle may be configured to be overridden or halted by a human
user or system manager.
[0213] As used herein, the term "semi-autonomous" may refer to an
ability to perform one or more processes without direct
intervention, while one or more additional processes require manual
intervention. The intervention may be by a human, or by a
commanding processor. They one or more processes may include
driving, obstacle avoidance, navigation, vehicle status
determination, or any combination thereof.
[0214] While preferred embodiments of the present invention have
been shown and described herein, it will be obvious to those
skilled in the art that such embodiments are provided by way of
example only. Numerous variations, changes, and substitutions will
now occur to those skilled in the art without departing from the
invention. It should be understood that various alternatives to the
embodiments of the invention described herein may be employed in
practicing the invention. It is intended that the following claims
define the scope of the invention and that methods and structures
within the scope of these claims and their equivalents be covered
thereby.
* * * * *