Granted Patent B1

US 9,481,393 · App. 14/979,187 · Granted Nov 1, 2016

Abstract

Claims (45)

1. An integrated clutch steering system for an automated vehicle (AV) comprising:

an offset gear mounted to a steering column of the AV at a first gear endpoint of the offset gear;

an AV steering motor coupled to a steering clutch, wherein the steering clutch is coupled to the offset gear at a second gear endpoint, the AV steering motor to apply torque to the steering column via the steering clutch and the offset gear to control steering of the AV;

wherein when a predetermined amount of torque is exceeded on the steering column, the steering clutch slips to enable manual steering of the AV.

2. The integrated clutch steering system of claim 1 , further comprising:

an AV control system to process sensor data from a plurality of on-board sensors in order to operate the AV, the AV control system comprising:

one or more processors; and

one or more memory resources storing instructions that, when executed by the one or more processors, cause AV control system to:

monitor a torque sensor that measures torque on the steering column;

wherein the executed instructions cause the AV control system to hand off AV controls, based on sensor data from the torque sensor, when the torque applied to the steering column exceeds the predetermined amount of torque.

3. The integrated clutch steering system of claim 2 , wherein the executed instructions further cause the AV control system to:

in response to the processed sensor data from the plurality of on-board sensors, operate the AV steering motor and an acceleration and braking system of the AV.

4. The integrated clutch steering system of claim 2 , wherein the executed instructions further cause the AV control system to:

provide a user interface on a display screen in an interior cabin of the AV, the user interface to enable a passenger to input a destination; and

in response to receiving the inputted destination on the user interface, access a mapping resource in order to operate the AV to travel to the destination.

5. The integrated clutch steering system of claim 3 , wherein the AV steering motor operates a steering mechanism coupled to a distal end of the steering column, the steering mechanism to engage a pair of front wheels to steer the AV in response to the torque applied to the steering column by the AV steering motor.

6. The integrated clutch steering system of claim 5 , wherein the steering mechanism comprises a steering actuator coupled to the distal end of the steering column, the steering actuator to reactively aid in steering the AV.

7. The integrated clutch steering system of claim 5 , wherein the torque sensor is mounted at the first gear endpoint of the offset gear.

8. The integrated clutch steering system of claim 5 , wherein the offset gear, the AV steering motor, the steering clutch, and the AV control system are installable on a non-automated vehicle to actively operate the steering mechanism of the non-automated vehicle via the torque applied to the steering column by the AV steering motor.

9. The integrated clutch steering system of claim 8 , wherein the steering mechanism comprises a linear hydraulic motor controlled by a hydraulic power steering system that responds to the torque applied to the steering column by the AV steering motor.

10. The integrated clutch steering system of claim 8 , wherein the steering mechanism comprises an electric motor to apply assistive torque to steer the AV in response to the torque applied to the steering column by the AV steering motor.

11. The integrated clutch steering system of claim 6 , wherein the steering actuator is coupled to an electronic power steering controller that provides torque input to the steering actuator.

12. The integrated clutch steering system of claim 11 , wherein the electronic power steering controller operates the steering actuator in a default mode that enables the steering actuator to reactively aid in steering the AV based on torque provided by the AV steering motor on the steering column.

13. The integrated clutch steering system of claim 12 , wherein the executed instructions further cause the AV control system to:

detect a failure of the AV steering motor; and

in response to detecting the failure of the AV steering motor, override the electronic power steering controller to operate the steering actuator in a secondary mode that enables the steering actuator to proactively steer the AV.

14. The integrated clutch steering system of claim 13 , wherein the executed instructions further cause the AV control system to:

based on the processed sensor data from the plurality of on-board sensors, transmit control commands to the steering actuator to control steering of the AV in the secondary mode.

15. The integrated clutch steering system of claim 1 , wherein the steering clutch continuously engages the AV steering motor to the offset gear when the torque applied to the steering column is less than the predetermined amount of torque.

16. An automated vehicle (AV) comprising:

an integrated clutch steering mechanism that includes (i) an offset gear comprising a first gear endpoint and a second gear endpoint, the offset gear being mounted to a steering column of the AV at the first gear endpoint, and (ii) an AV steering motor coupled to a steering clutch, the steering clutch being coupled to the offset gear at the second gear endpoint, the AV steering motor to apply torque to the steering column via the steering clutch and the offset gear to control steering of the AV; and

an AV control system to process sensor data from a plurality of on-board sensors in order to operate the AV;

wherein when a predetermined amount of torque is exceeded on the steering column, the steering clutch slips to enable manual steering of the AV.

17. The AV of claim 16 , wherein the AV control system comprises:

one or more processors; and

one or more memory resources storing instructions that, when executed by the one or more processors, cause the AV control system to:

monitor a torque sensor that measures torque on the steering column; and

based on sensor data from the torque sensor, hand off AV controls when the torque applied to the steering column exceeds the predetermined amount of torque to enable manual steering of the AV.

18. The AV of claim 16 , wherein the AV control system operates the AV steering motor to automatically steer the AV.

19. A non-transitory computer readable medium storing instructions that, when executed by one or more processors of a control system for an automated vehicle (AV), cause the control system to:

process sensor data from a plurality of on-board sensors that monitor an operational environment of the AV;

using the processed sensor data, operate the AV by controlling (i) an acceleration and braking system of the AV, and (ii) an AV steering motor coupled to a steering clutch installed on a steering column of the AV via an offset gear;

monitor a torque sensor that measures torque on the steering column; and

based on sensor data from the torque sensor, hand off AV controls when the torque applied to the steering column exceeds a predetermined threshold to enable manual steering of the AV.

20. The non-transitory computer readable medium of claim 19 , wherein the steering clutch continuously engages the AV steering motor to the offset gear when the torque applied to the steering column is less than the predetermined threshold.

Assignments (6)