US7343232B2
Expired / Lapsed
US
⏱️ 0.0 years remaining
Vehicle control system including related methods and components
Assignee: Vertical Autonomy LLC
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Filing: 2004-06-18
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Granted: 2008-03-11
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Expires: 2024-06-18
Abstract
Abstract Embodiments are disclosed for a vehicle control system and related sub-components that together provide an operator with a plurality of specific modes of operation, wherein various modes of operation incorporate different levels of autonomous control. Through a control user interface, an operator can move between certain modes of control even after vehicle deployment. Specialized autopilot system components and methods are employed to ensure smooth transitions between control modes. Empowered by the multi-modal control system, an operator can even manage multiple vehicles simultaneously.
Inventors
- 👤 David S. Duggan
- 👤 David A. Felio
- 👤 Billy B. Pate
- 👤 Vince R. Longhi
- 👤 Jerry L. Petersen
- 👤 Mark J. Bergee
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 03:35
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/0088; B; B64; B64C; B64C19/00; G08; G08G; G08G5/00; G08G5/80; B64U; B64U2101/00; B64U2101/30; B64U2201/00; B64U2201/10; B64U2201/20
Claims Analysis
Total Claims: 38
Claim 1
Independent Claim
179 words
A computer-implemented method for providing an operator of a vehicle with a plurality of control modes, wherein the system is configured to support transitioning between control modes during operation of the vehicle, the method comprising: receiving a first operator input that corresponds to a first control mode; generating a first directional representation of the first operator input; processing the first directional representation through a unified autopilot system so as to generate a first control output; mechanically adjusting a control component associated with the vehicle based on the first control output; receiving a second operator input that corresponds to a request to transition from the first control mode to a second control mode; transitioning from the first control mode to the second control mode; receiving a third operator input that corresponds to the second control mode; generating a second directional representation of the third operator input; processing the second directional representation through the unified autopilot system so as to generate a second control output; and mechanically adjusting a control component associated with the vehicle based on the second control output.
Claim 2
Dependent Claim
179 words
A computer-implemented method for providing an operator of a vehicle with a plurality of control modes, wherein the system is configured to support transitioning between control modes during operation of the vehicle, the method comprising: receiving a first operator input that corresponds to a first control mode; generating a first directional representation of the first operator input; processing the first directional representation through a unified autopilot system so as to generate a first control output; mechanically adjusting a control component associated with the vehicle based on the first control output; receiving a second operator input that corresponds to a request to transition from the first control mode to a second control mode; transitioning from the first control mode to the second control mode; receiving a third operator input that corresponds to the second control mode; generating a second directional representation of the third operator input; processing the second directional representation through the unified autopilot system so as to generate a second control output; and mechanically adjusting a control component associated with the vehicle based on the second control output.
Claim 3
Dependent Claim
19 words
The method of claim 1 , wherein said transitioning comprises processing a transition command through the unified autopilot system.
Claim 4
Dependent Claim
23 words
The method of claim 1 , wherein generating a first directional representation comprises generating a first set of acceleration and bank angle commands.
Claim 5
Dependent Claim
41 words
The method of claim 1 , wherein transitioning from the first control mode comprises transitioning from a first control mode wherein the vehicle is controlled based on manipulations by the operator of an image sensor that is located onboard the vehicle.
Claim 6
Dependent Claim
21 words
The method of claim 1 , wherein transitioning from the first control mode comprises transitioning from a line-of-sight-slave mode of operation.
Claim 7
Dependent Claim
23 words
The method of claim 1 , wherein transitioning from the first control mode comprises transitioning from a remote directional control mode of operation.
Claim 8
Dependent Claim
23 words
The method of claim 1 , wherein transitioning from the first control mode comprises transitioning from a ground collision avoidance mode of operation.
Claim 9
Dependent Claim
21 words
The method of claim 1 , wherein said processing through a unified autopilot system comprises processing through an acceleration-based autopilot system.
Claim 10
Dependent Claim
25 words
The method of claim 1 , wherein said processing the first and second directional representations through a unified autopilot system comprises adjusting for disturbance rejection.
Claim 11
Dependent Claim
21 words
The method of claim 1 , further comprising processing the first and second directional representations to adjust for route following accuracy.
Claim 12
Dependent Claim
42 words
The method of claim 1 , wherein transitioning from the first control mode to the second control mode comprises transitioning from a first mode offering a first level of system autonomy to a second mode offering a different level of system autonomy.
Claim 13
Dependent Claim
133 words
A multi-modal variable autonomy control system configured to support transitioning between control modes during operation of a vehicle, the system comprising: a first control mode component configured to respond to a first user input by generating a first control mode command; a second control mode component configured to respond to a second user input by generating a second control mode command; a control mode selection component for responding to an operator control mode selection input by transitioning between a first mode of control that corresponds to the first control mode component and a second mode of control that corresponds to the second control mode component; and a unified autopilot system for processing the first or second control mode commands depending on which of the first and second modes of control has been selected.
Claim 14
Dependent Claim
133 words
A multi-modal variable autonomy control system configured to support transitioning between control modes during operation of a vehicle, the system comprising: a first control mode component configured to respond to a first user input by generating a first control mode command; a second control mode component configured to respond to a second user input by generating a second control mode command; a control mode selection component for responding to an operator control mode selection input by transitioning between a first mode of control that corresponds to the first control mode component and a second mode of control that corresponds to the second control mode component; and a unified autopilot system for processing the first or second control mode commands depending on which of the first and second modes of control has been selected.
Claim 15
Dependent Claim
29 words
The system of claim 12 , further comprising a translation layer for translating the first or second control mode commands into a format appropriate for the unified autopilot system.
Claim 16
Dependent Claim
55 words
The system of claim 12 , wherein: the first control mode component is further configured to generate a first control mode command in the form of a directional command representation; and the second control mode component is further configured to generate a second control mode command in the form of a second directional command representation.
Claim 17
Dependent Claim
56 words
The system of claim 12 , wherein: the first control mode component is further configured to generate a first control mode command in the form of acceleration and bank angle commands; and the second control mode component is further configured to generate a second control mode command in the form of acceleration and bank angle commands.
Claim 18
Dependent Claim
16 words
The system of claim 12 , wherein the unified autopilot system is an acceleration-based autopilot system.
Claim 19
Dependent Claim
23 words
The system of claim 12 , wherein said first user input corresponds to a manipulation of an image sensor located on-board the vehicle.
Claim 20
Dependent Claim
21 words
The system of claim 12 , wherein said first user input corresponds to an input originating from a multi-directional input mechanism.
Claim 21
Dependent Claim
30 words
The system of claim 18 , wherein said first user input corresponds to an input originating from a multi-directional input mechanism that is part of a game pad input device.
Claim 22
Dependent Claim
23 words
The system of claim 12 , wherein the first control mode component is configured to support a remote directional response mode of control.
Claim 23
Dependent Claim
21 words
The system of claim 12 , wherein the first control mode component is configured to support a line-of-sight-slave mode of control.
Claim 24
Dependent Claim
23 words
The system of claim 12 , wherein the first control mode component is configured to support a ground collision avoidance mode of control.
Claim 25
Dependent Claim
23 words
The system of claim 12 , wherein the first control mode component is configured to support an autonomous route following mode of control.
Claim 26
Dependent Claim
21 words
The system of claim 12 , wherein the first control mode component is configured to support loiter pattern modes of control.
Claim 27
Dependent Claim
23 words
The system of claim 24 , wherein the first control mode component is configured to support an oval-based loiter pattern mode of control.
Claim 28
Dependent Claim
23 words
The system of claim 24 , wherein the first control mode component is configured to support a figure-8 loiter pattern mode of control.
Claim 29
Dependent Claim
23 words
The system of claim 24 , wherein the first control mode component is configured to support an racetrack-shaped loiter pattern mode of control.
Claim 30
Dependent Claim
22 words
The system of claim 12 , wherein the first control mode component is configured to support a programmed maneuvers mode of control.
Claim 31
Dependent Claim
25 words
The system of claim 12 , further comprising an intelligence synthesizer layer configured to resolve functional conflicts between the first and second modes of control.
Claim 32
Dependent Claim
34 words
The system of claim 12 , further comprising an intelligence synthesizer layer configured to provide commands to the unified autopilot system as necessary to support transition between the first and second modes of control.
Claim 33
Dependent Claim
67 words
A multi-modal variable autonomy control system, the system comprising: a plurality of control mode components each corresponding to a different mode of control and being configured to respond to command inputs by generating directionally descriptive control commands; and a unified autopilot component for processing said directionally descriptive control commands; a vehicle control component for receiving processed commands from the unified autopilot system and actuating control devices accordingly.
Claim 34
Dependent Claim
67 words
A multi-modal variable autonomy control system, the system comprising: a plurality of control mode components each corresponding to a different mode of control and being configured to respond to command inputs by generating directionally descriptive control commands; and a unified autopilot component for processing said directionally descriptive control commands; a vehicle control component for receiving processed commands from the unified autopilot system and actuating control devices accordingly.
Claim 35
Dependent Claim
23 words
The system of claim 31 , wherein said plurality of control mode components are associated with more than three different modes of control.
Claim 36
Dependent Claim
23 words
The system of claim 31 , wherein said plurality of control mode components are associated with both autonomous and user-input-based modes of control.
Claim 37
Dependent Claim
33 words
The system of claim 31 , wherein said plurality of control modes are further configured to respond to command inputs by generating control commands in the form of acceleration and bank angle commands.
Claim 38
Dependent Claim
16 words
The system of claim 31 , wherein the unified autopilot component is an acceleration-based autopilot component.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2011-03-11 | 2011-09-10 | 2012-03-11 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2015-03-11 | 2015-09-10 | 2016-03-11 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2019-03-11 | 2019-09-10 | 2020-03-11 | $7700.00 | Window Closed / Lapsed |