Message conveying system of rendezvous locations for stranded autonomous vehicles
A message conveying system comprising a set of sensors that can detect features such as a camera, LADAR, ranging sensors, or acoustic sensors in which the lead autonomous vehicle conveys messages to the other autonomous vehicles that follow behind of rendezvous locations for the entire convoy to meet when they get separated from the lead autonomous vehicle. The rendezvous locations are derived from paths entered by the operator, by using the general direction of travel, or by using the old route. In addition, different rendezvous points can be chosen based on exactly where the loss of communication occurs. These rendezvous points may or may not lead to the final destination dictated by the lead autonomous vehicle.
1. A system for controlling a convoy of multiple autonomous vehicles, the system comprising:
a first message conveying system mounted on a lead autonomous vehicle in the convoy, the first message conveying system comprising:
a transmitter; and
a first database storing data about a road network traversed by the lead autonomous vehicle; and
a second message conveying system mounted on a follower autonomous vehicle in the convoy, the second message conveying system comprising:
a receiver; and
a second database storing data about the road network,
wherein the first message conveying system is configured to:
determine, based at least in part on a predetermined first travel route for the lead autonomous vehicle and the data in the first database, a rendezvous location; and
transmit, via the transmitter to the receiver of the second message conveying system, a message indicating the determined rendezvous location, and
wherein the second message conveying system is configured to:
receive, via the receiver from the transmitter of the first message conveying system, the message indicating the determined rendezvous location;
determine that communication between the first message conveying system and the second message conveying system has been lost; and
in response to the determination of loss of communication, control the follower autonomous vehicle to follow a second travel route to the determined rendezvous location.
2. The system of claim 1 , further comprising:
a first sensor suite mounted on the lead autonomous vehicle; and
a second sensor suite mounted on the follower autonomous vehicle,
wherein each of the first and second sensor suites comprises a camera, a laser detection and ranging system (LADAR), a ranging sensor, an acoustic sensor or any combination of the foregoing,
wherein the first sensor suite is configured to detect features in the road network as the lead autonomous vehicle traverses the predetermined first travel route,
wherein the first message conveying system is further configured to transmit, via the transmitter to the receiver of the second message conveying system, a message indicating the detected features, and
wherein the second message conveying system is further configured to receive, via the receiver from the first message conveying system, the message indicating the detected features.
3. The system of claim 1 , wherein the data about the road network comprises a Road Network Definition File containing a-priori data about the road network.
4. The system of claim 1 , wherein:
the first message conveying system further comprises a second receiver;
the second message conveying system further comprises a second transmitter; and
the second message conveying system is further configured to transmit, via the second transmitter to the second receiver of the first message conveying system, a message that acknowledges that communications are still active.
5. A The system of claim 1 , wherein the first message conveying system of the lead autonomous vehicle is configured to determine the rendezvous location by selecting from a predetermined list of potential rendezvous locations.
6. The system of claim 4 , wherein:
the second message conveying system is further configured to, in response to the determination of loss of communication, transmit, via the second transmitter, an alert that the follower autonomous vehicle is no longer in contact with the lead autonomous vehicle.
7. The system of claim 4 , wherein the first message conveying system is further configured to:
determine that communication between the second message conveying system and the first message conveying system has been lost; and
in response to the determination of loss of communication, control the lead autonomous vehicle to follow a third travel route to the determined rendezvous location.
8. The system of claim 7 , wherein the third travel route includes a detour from the predetermined first travel route.
9. A system for controlling a convoy of multiple autonomous vehicles, the system comprising:
a first message conveying system mounted on a lead autonomous vehicle in the convoy, the first message conveying system comprising:
a first transmitter;
a first receiver; and
a first database storing data about a road network traversed by the lead autonomous vehicle; and
a second message conveying system mounted on a follower autonomous vehicle in the convoy, the second message conveying system comprising:
a second transmitter;
a second receiver; and
a second database storing data about the road network,
wherein the first message conveying system is configured to:
determine, based at least in part on a current first location along a predetermined travel route for the lead autonomous vehicle and the data in the first database, a first rendezvous location; and
transmit, via the first transmitter to the second receiver of the second message conveying system, a first message indicating the determined first rendezvous location,
wherein the second message conveying system is configured to:
receive, via the second receiver from the first transmitter of the first message conveying system, the first message indicating the determined first rendezvous location; and
transmit, via the second transmitter to the first receiver of the first message conveying system, a second message acknowledging that communications are still active,
wherein the first message conveying system is further configured to:
receive, via the first receiver, the second message from the second transmitter of the second message conveying system;
determine, based at least in part on a current second location along the predetermined travel route, a second rendezvous location different from the first rendezvous location;
transmit, via the first transmitter to the second receiver, a third message indicating the determined second rendezvous location, and
wherein the second message conveying system is further configured to:
receive, via the second receiver from the first transmitter, the third message indicated the determined second rendezvous location;
after receiving the third message, determine that communication between the first message conveying system and the second message conveying system has been lost; and
in response to the determination of loss of communication, control the follower autonomous vehicle to follow a second travel route to the determined second rendezvous locations.
10. The system of claim 9 , wherein the first rendezvous location, the second rendezvous location, or both the first and second rendezvous locations are along the predetermined travel route to a final destination for the convoy.
11. The system of claim 9 , wherein the first rendezvous location, the second rendezvous location, or both the first and second rendezvous locations are not along the predetermined travel route to a final destination for the convoy.
12. The system of claim 9 , wherein the second travel route followed by the follower autonomous vehicle includes a detour from the predetermined travel route.
13. The system of claim 9 , further comprising:
a first sensor suite mounted on the lead autonomous vehicle; and
a second sensor suite mounted on the follower autonomous vehicle,
wherein each of the first and second sensor suites comprises a camera, a laser detection and ranging system (LADAR), a ranging sensor, an acoustic sensor, or any combination of the foregoing,
wherein the first sensor suite is configured to detect features in the road network as the lead autonomous vehicle traverses the predetermined travel route,
wherein the first message conveying system is further configured to transmit, via the first transmitter to the second receiver of the second message conveying system, a fourth message indicating the detected features, and
wherein the second message conveying system is further configured to receive, via the second receiver, the fourth message indicating the detected features.
14. The system of claim 9 , wherein the first message conveying system is further configured to determine the first rendezvous location, the second rendezvous location, or both the first and second rendezvous locations by selecting from a predetermined list of potential rendezvous locations.
15. The system of claim 9 , wherein the second message conveying system is further configured to, in response to the determination of loss of communication, transmit, via the second transmitter, an alert that the follower autonomous vehicle is no longer in contact with the lead autonomous vehicle.
16. The system of claim 9 , wherein the first message conveying system is further configured to:
after transmitting the second message, determine that communication between the second message conveying system and the first message conveying system has been lost; and
in response to the determination of loss of communication, control the lead autonomous vehicle to follow a third travel route to the determined second rendezvous location.