Patent Application
20210114628
This patent application is related to autonomous and semi-autonomous vehicles and a method of their operation and use.
The technology of self-driving vehicles now is becoming widely available, but its penetration into commonplace is hindered by psychological barriers. While most people are comfortable seeing driverless cars on the road, they do not feel comfortable not being in control sitting in a vehicle without a driver. That is why it is quite possible that delivery trucks will be the first widespread application of driverless vehicles.
At the same time, rental vehicle fleets are used very inefficiently, as rental vehicles spend most of the time parked, which not only reduces revenue, but also takes valuable parking space and increases user expenses by paying for parking.
Alternatives to vehicle rental are taxies ridesharing, and other human driven vehicles, where the cost is prohibitively high due to cost of labour. Services such as Zipcar can reduce the amount of idle time but are inconvenient as the travel can only be from and to a certain predetermined location. Autonomous vehicles seem to be the perfect solution to the high cost of taxis, and ridesharing, but not to the aforementioned psychological barriers of driverless vehicles. The invention provides solutions which are free from above-mentioned disadvantages.
The inherent feature of the system is its flexibility, for example, the user can change plans in case of heavy traffic, and exit the vehicle at any time, and the vehicle can proceed to a new destination provided by the central destination in autonomous mode from this point. In another example, a user may utilize a mixed mode vehicle to deliver, ship, or move items, wherein the vehicle switches between modes based on a presence of said items being detected. In yet another example, a user may utilize the mixed mode vehicle as a fully autonomous vehicle, except when desired, to transport any personal property of the user.
The invention provides a method and system for one or more vehicles to shift between an autonomous mode and a manual mode, and vice versa, as well as each vehicle being in communication to a central processor. This central processor also communicates with users, maintenance stations, and other terminals making up the system. This shifting between modes is dependent on multiple criteria, including but not limited to extra weight inside the vehicle (e.g., baggage, luggage, trunk items, back seat items, passenger seat items, floor items, exterior attachment items, etc.), passengers inside the vehicle, whether the vehicle is in park, and whether the vehicle is at the final location. Such multiple criteria is determined via one or more sensors—some sensors detect the presence/absence of humans/passengers/persons within the vehicle, other sensors detect the presence/absence of items/personal property belonging to the user within the vehicle. No extra weight should be inside the vehicle lest it drive off with the users' belongings, but safeguards are provided by the methods and systems described herein. The requirement of no person to be inside the vehicle during autonomous mode mirrors recent studies which point to the fact that humans are reluctant to be in a self-driving vehicle. Determining whether the items have been removed from the vehicle is performed by the central processor, once the vehicle is in a parked position, is a requirement for the vehicle to shift to the manual mode.
The invention also describes a system which includes several components such as users, vehicles, a central processor, a counter or multiple counters, and maintenance stations. In the method, no passengers are allowed on board the vehicle when it is in autonomous mode, but the vehicle is on the road for an extended amount of time compared to rental vehicles. Rental vehicles spend the majority of their time at a hub, waiting to be rented by a user; however, by the present method, the vehicles may drive autonomously towards a new user, or towards a maintenance station, thus utilizing idle time more efficiently. Once a user loads items onto the vehicle, the vehicle is able to detect the presence of baggage/luggage/general items and autonomously converts to manual mode until the presence of said baggage/luggage/general items is no longer detected (and the vehicle is parked).
The term “item(s)” relating to or of the user, is defined herein as any luggage, baggage, or other personal property belonging to a user utilizing the services of a mixed mode vehicle according to the present invention. Items include any and all personal property of the user which is placed by said user or by the direction of said user into the mixed mode vehicle. Items may be placed, and are detected, via any sensors known in the art today to detect the location or weight of a particular item (e.g., via RFID, barcode, or other currently known registrational method) or a general item (e.g., any luggage or baggage of the user). Items may be placed anywhere in the vehicle including but not limited to the passenger seat, back seat, trunk, front storage, floor, roof, or exterior attachment/compartment which might contain personal property of the user for a given amount of time.
In this patent application, the term idling is user to describe a vehicle not being used. In this application, renting means hiring a vehicle for a certain amount of time. The user in this application is a human who uses the vehicle for driving.
The pool of vehicles of this system are connected with a two-way link to a central system, which provides monitoring of the location and performance of all the vehicles in real time, and when a prospective user requests a ride, the central station sends a command to a nearby vehicle to proceed to the requested location.
This application discloses a system of multiple vehicles having dual modes of operation. Human-operated mode (i.e., manual mode) is used to transport the user and/or passengers, with items, through a number of destinations, and fully autonomous mode (i.e. autonomous mode) is used to transport the vehicle when not being used to transport a user and his/her items. All vehicles participating in this system are equipped with a transmitter and receiver which provide a data link to the central station, which dispatches vehicles according to a user's request. Additionally, in the absence of demand, the central station may use real time information to anticipate demand and dispatch vehicles accordingly, to a parking station, or additionally, to recharge/refuel. For example, the central station can dispatch vehicles to sports or entertainment venues ahead of the time when the public is expected to exit. Similarly, the central station may dispatch vehicles to, e.g., airports, mass transit hubs, train stations, and taxi/carshare stands.
Examples of autonomous vehicles that may operate in dual modes include but are not limited to self-driving cars, trucks, buses, motorcycles, bikes, aerial vehicles, and naval vehicles.
The method operates as follows, the user requests a vehicle at a specified time at a specific location. All users that use this system of cars are registered. This registration is similar to that of Zipcar or car rentals, which requires a driver's license, credit card, and optionally, insurance. Payment is performed by withdrawing money from a credit card already on file, and other methods of payment such as Apple Pay, PayPal, and others may be used to achieve payment.
Users request a car using a smartphone, or through any internet connection by submitting a request to a central station through a central processor. Such a request may be submitted and processed via any currently known method. The central station preferably includes a network of local dispatching units monitoring and dispatching vehicles in a certain geographical area. When the user sends a request to the central station through the central processor, the central processor may reroute the request to a local dispatch unit processor, each dispatch unit processor being associated with a designated local area such that the central processor does not have to cover an entire area. The dispatch unit processor then determines availability of the vehicles in its area and sends a vehicle in an autonomous mode to the requested location. The central processor also sends feedback to the user and sends a secure key allowing the user to open and operate (i.e. access) the vehicle.
In one embodiment, the user makes a Bluetooth connection from his phone to the on-board computer and enters the digital key given by the central processor, which unlocks the doors and allows for user operation.
In another embodiment, the phone used to create the request is registered with the central station and central processor, and the vehicle recognizes the phone due to a signal the phone has received from the central station or central processor, thus allowing for user operation.
In another embodiment, the user receives a sequence of alphanumeric characters from the central station or central processor and physically enters the key into the vehicle, unlocking the doors allowing for user operation.
Once the vehicle is unlocked, and items are placed in any area of the vehicle, the user may operate the vehicle to one or more destinations in order to transport the items. When a vehicle exits one dispatching unit's area and enters another dispatching unit's area, control is transferred to that new dispatching unit's processor.
Upon arrival at a desired location, the user exits the vehicle and contacts the central station through one of the base stations to release the vehicle from their control. Alternatively, and preferably, the vehicle is able to determine on its own when a user and his/her items have permanently left the vehicle. When the user, or preferably the vehicle, sends a signal through the base station to the central station and central processor, the vehicle is sent a signal to switch to fully autonomous mode. Alternatively, the user shifts the vehicle operation mode from human operated to fully autonomous mode, and the vehicle sends a signal to the central station about the end of use by this user. Once released from a user, the vehicle enters the pool of available vehicles and can be dispatched to the next user via the central processor. Alternatively, the central station and central processor may dispatch the vehicle to drive to a parking location, or a charging/refueling/maintenance station in automated mode.
In one embodiment, before making a request, the user provides information regarding the desired location and estimated time of vehicle drop off.
When the vehicle is used by the user, the user is driving the vehicle, and when they have finished driving, they give a signal that they are finished with the vehicle, and that vehicle may drive itself to another user, and the first user gives a signal for when and where to get a vehicle a next time. In preferred embodiments, the vehicle is able to determine automatically when to switch between modes (from manual to autonomous) in order to automatically switch to autonomous mode and drive itself to a next location, based on instructions from the central processor.
A user knows that he will go to sleep and will need a vehicle in eight hours. If the user has a rental vehicle, then typically, that vehicle will stay in a parking lot or parked in some other way for those eight hours. With this idea, that vehicle may drive around and serve other purposes for that time, and after that time has elapsed, the user will have a vehicle ready for him, whether it be the first vehicle or a different one. This applies as well for a businessperson who needs to attend a meeting in a busy city, for that user will not need to pay for expensive parking, and while they are in their meeting, that vehicle may serve another user, or park in a designated parking area, where the vehicle may fuel or charge up.
In a preferred embodiment, the vehicle is electrically powered, which provides an option to drive itself to charge up at the nearest electric charging station at the time that a user does not require it.
In one embodiment, the proposed method includes the use of the carpool in prescheduled, multiple time use of the system. For example, in a business trip, that would include travel from an airport to a hotel, from the hotel to the meeting location, back to the hotel after the meeting, and back to the airport the next morning. The car may arrive at predetermined times for each leg of the trip, so the user does not need to request different legs of the trip at different times.
There are several options in which to achieve charging (or refueling) of a vehicle associated with the method of the present invention:
The vehicle drives itself to a charging station where it automatically charges itself, this can be done by an automatic robot which plugs the vehicle into the outlet, or it may be achieved wirelessly, for example, inductively.
The vehicle drives to the charging station to a human operated charging station where a human operator manually plugs the vehicle into the outlet according to instructions given by the car, whether it be for a certain amount of allotted time, or for a full charge.
If the vehicle is not fully electric, for example a hybrid gas-electric vehicle or fully gas powered, it drives itself to the gas station for refueling when a user does not require it.
In one embodiment, the self-driving vehicle is capable of delivery of items when not in demand of users, similar to food or package delivery services and systems.
In a preferred embodiment, the invention comprises a system and method for detecting the presence of a driver and passenger within a vehicle capable of mixed mode operation. The system for detecting comprises one or more sensors which relay a signal to the operating system of the vehicle in order to switch the operating mode of the vehicle from autonomous to manual and vice versa. The sensors may comprise one or more of the following: laser sensors, infrared sensors, weight sensors, video cameras/sensors, audio sensors. The sensors may comprise both a transmitting unit and a receiving unit. If the sensor does not detect an object resembling a passenger, or if the receiving unit does not detect the signal sent by the transmitting unit, a presence of a driver/passenger in the particular seat corresponding to the sensor is presumed by the sensor, and the sensor is capable of sending a signal to the operating system of the vehicle to set it to a manual mode. Such a sensor corresponding to the driver position of a mixed mode vehicle allows for the detection of a presence of a driver and/or passenger without requiring any input from a human user. If the presence of a driver is not detected by the sensing system, the sensing system sends a continuous signal to the operating system of the vehicle to maintain a self-driving (autonomous) mode of operation. The sensing system of the vehicle (i.e. an onboard computer) may also be in communication with the central processor of the central station, as well as dispatch unit processors of other stations.
In a preferred embodiment, the switching between modes of the vehicle with two or more modes of operation occurs automatically and instantaneously without the need for user input because the vehicle is able to determine whether a driver is seated in the driver seat and/or whether a passenger is in the vehicle. Such a system requires the vehicle to be driven in manual mode when a driver or passenger is present, and it allows the vehicle to be self-driving only when no driver is present. The requirement of manual mode when a driver is present specifically addresses the current state of mind of drivers regarding being in a self-driving vehicle and not being in control of the vehicle. Knowing that vehicles according to the present inventive method are the only vehicles on the road, the public can rest assured that those vehicles which contain a driver are being operated by the driver.
Another issue that is addressed by the present invention is that of a driver of a vehicle exiting the vehicle only temporarily and that driver being able to return to the vehicle without the vehicle switching to self-driving mode and abandoning the driver. Several types of indicators, sensors, and/or mechanisms may be used to determine whether a driver only leaves the vehicle for a short amount of time and plans to return. A first mechanism for determining whether a driver leaves only temporarily, may be a weight sensor located in an area of the vehicle which stores luggage of the driver. Such sensors may be positioned along the rear seat(s) of the vehicle and/or in the trunk of the vehicle. Such sensors preferably comprise weight sensors. If a luggage weight sensor exceeds a given threshold amount of weight, the vehicle assumes that a driver desires to return to the vehicle and that the vehicle should not switch to self-driving mode until the luggage is removed.
Furthermore, the time at which the luggage is placed into the vehicle may also be stamped, such that the vehicle is capable of determining a relationship between the time that luggage is placed into the vehicle and the time that a driver sits in the driver seat, or the time that the driver leaves the driver seat and returns to it. Through such a relationship, the vehicle is able to detect that the driver has initiated a manual use of the vehicle, wherein the manual use of the vehicle is not concluded until a second time relationship is established. The second time relationship comprises another point in time when a driver leaves the driver seat and the luggage exits the vehicle very shortly thereafter (e.g., up to 30 minutes thereafter). Therefore, the vehicle is permitted to switch to autonomous mode only when there is a short period of time (e.g., thirty minutes or less) between the time that a driver exits the vehicle and the time that the luggage sensors no longer sense baggage in the vehicle. Additionally, the vehicle (or the onboard computer of the vehicle) is capable of collecting data for analytics purposes based on all time stamps which are recorded by each user.
A second mechanism for determining whether a driver leaves only temporarily may comprise a counter which provides a time delay prior to the vehicle making any automatic decision about switching modes for operation (especially for a switch from manual to autonomous mode). Such a counter comprises a mechanism which begins counting down from a set amount of time once a driver exits the driver seat of the vehicle. For example, if a driver stops at a convenience store or gas station, and the vehicle does not comprise the luggage sensor discussed above, the vehicle will not switch to self-driving mode immediately and abandon the driver if the driver leaves the vehicle. Instead, a timer may be initiated to provide the driver with a set amount of time to return to the empty vehicle. In practice, the driver may set the time to be any amount of time by entering the amount of countdown manually. However, the vehicle will automatically provide the driver with a preset amount of time (e.g., 30 minutes, or any amount that the driver sets ahead of time as a default amount). Additionally, or alternatively, the counter(s) may be used to collected time relationship information regarding various placements/replacements and/or exits/entrances of items or individuals into/out of the vehicle. Such time relationship data would be beneficial not only for providing safeguards against improper shifts from manual to autonomous mode (or vice versa), but also for data analytics purposes and further development of the counter technology to benefit the user and deliver/transport of items.
In some aspects, the present invention comprises a system and method for following a separate route for autonomous vehicles, which is distinct from routes for human-operated vehicles. Thus, when a driver is undetected within the vehicle, the vehicle automatically switches to self-driving and the operating system of the vehicle maintains the vehicle along the route intended only for autonomous vehicles. In this regard, self-driving vehicles never interact with manually controlled vehicles. As soon as no driver is detected by the sensor system within the mixed mode vehicle, the operating system of the vehicle directed that vehicle to the route(s) for autonomous vehicles. The route(s) for autonomous vehicles may be underground or otherwise sealed from an external environment. If a passenger is detected without a driver in a vehicle, if available, a third route may be followed for autonomous vehicles containing passengers but no driver. This third route would not be sealed from an exterior environment so that the passenger(s) are able to enjoy a view in case the autonomous vehicle route is enclosed or underground.
Referring now to the drawings, in particular,
The second condition asks whether there are any passengers or items on board the vehicle. This condition is determined using one or more sensors which include but are not limited to laser, audio, visual, video, infrared, or weight sensors. The second condition is signified on the flowchart as step 2. If the vehicle has any passengers or items on board, it may not shift to an automatic mode, but if it does not contain any passengers or items, the second requirement is satisfied. This condition is required because studies have been performed which show that many people are unwilling to be passengers in an autonomous car. Many people distrust the ability of a vehicle to adapt correctly to shifting situations in the road, with as much as half of the population reluctant to purchase a car which has the ability to drive itself. See, e.g., Enwemeka, Zeninjor, “Consumers Don't Really Want Self Driving Cars, MIT Study Finds,” Retrieved from http://www.wbur.org/bostonomix/2017/05/25/mit-study-self-driving-cars.
A third requirement is signified in step 3 of the flowchart, which asks if there is any significant baggage on board, because if the vehicle switched to autonomous mode without checking if said baggage was still on board, it may leave the user without their baggage. If this baggage is on board, then the vehicle may not switch to an autonomous mode. This condition assures the current user of the vehicle that the vehicle will not be used to transport another user and their potential baggage until the current baggage is removed from the vehicle.
Assuming all other requirements discussed above have been met, a counter begins counting down when a driver is detected as having exited the vehicle. The timer is shown in step 4 of the flowchart. If the timer requirement was not included, the vehicle may switch to an autonomous mode while the user does not intend to leave the vehicle for an extended amount of time. The user can create a value for this counter each time the user exits the vehicle. Alternatively, the user may set a default value for this counter for every time he exits the vehicle.
Step 5 concerns whether or not the user returns before this timer has expired, and if the user has returned within the constraints of the time limit, the vehicle remains in manual mode. Otherwise, the vehicle sends a signal to the central processor that it is available to shift to self-driving mode, and the central processor determines whether the vehicle is needed elsewhere based on additional user requests.
Referring now to
The next requirement of the process is determining if the vehicle is travelling to a user to be switched to manual mode, or if it is travelling to some other destination, not including maintenance. This requirement is shown in the flowchart as box 13. If the vehicle is not travelling to a user, the central processor remains in control of the vehicle and it does not switch to an autonomous mode, see box 14. Otherwise, the vehicle travels to the user, as shown in box 15.
Another requirement for the switch to manual mode is that the vehicle must be at the destination that the user requests, as shown in box 16. If the vehicle is not present at the destination, it must continue in an autonomous mode until it reaches the destination, as represented in box 17.
Another requirement for the switch to manual mode is for the vehicle to be parked, as shown in box 18. If the vehicle is not parked, then switching it to a manual mode would mean, among other issues, a rapid deceleration, which is very likely to cause harm to the vehicle. If the vehicle is not parked, then, as shown in box 19, the system directs the vehicle to park.
Box 20 is a representation of the requirement for there to be a person in the vehicle in order that the car be switched to manual mode, and if there is no person inside the vehicle, box 21, the vehicle waits until there is a person detected inside the vehicle.
Manual mode is unnecessary when there is no person or item inside the vehicle, so, according to the method of the invention, it is not necessary to switch to manual mode until an item, passenger, or driver is detected. Once a person enters the vehicle, the vehicle shifts to a manual mode, as per box 22.
A user requests a mixed mode vehicle according to the present invention for transporting themselves as well as their items, baggage, luggage, furniture, or essentially any personal property that needs to be moved from one location to another. The mixed mode vehicles are held by a mixed mode vehicle rental service, e.g., from/to an airport, train station, bus station, or from one location to another (i.e., moving services). The following steps comprise the method of this Example:
1) An empty vehicle arrives in autonomous mode from the central station to the location, as set by a user or user location, of the user and their personal property, for example, their luggage.
2) The user places/attaches the luggage into the vehicle, and the luggage is detected by a sensor(s) or a group of sensors (the sensors described hereinabove are similarly incorporated here);
3) Once the luggage and/or a person is detected, the vehicle automatically shifts to manual mode, such that the user may transport his/her personal property, while also being capable of exiting the vehicle without the vehicle shifting to autonomous mode and potentially leaving the user without his/her luggage; e.g., the luggage sensor(s) may notice that luggage exists in the vehicle, but the human sensor(s) may note that a human was present but no longer is present inside the vehicle; when such a situation exists, the vehicle knows to wait for the human to return without shifting to autonomous mode solely based on the human exiting the vehicle;
4) Additionally or optionally, when the human sensor is off (i.e., no human is noticed) but the item sensor is on (i.e., items remain in the vehicle), a counter is initiated in order to note the amount of time during which the user/human leaves the vehicle. Such a counter may be preset or instantaneously set by the user, or a default counter amount may be provided according to any standard required. The counter may further instruct the vehicle to shift to autonomous mode, e.g., if the amount of time that the user has left the vehicle is significantly longer than expected/preset. Such may be the case in emergency situations and also provides for the collection of additional significant data regarding time relationships between the exiting of the user/passenger and associated items of the user/passengers placed in various locations within the vehicle. Such time relationships may further be collected for analysis and further improvement of the mixed mode vehicle system.
5) The user drives the vehicle, with the luggage, to their desired destination, remaining free to exit the vehicle and set various counters, if desired, such that the vehicle does not abandon the user or a passenger by shifting from manual mode to autonomous mode;
6) The user removes/detaches the luggage from the vehicle, and the removal is also detected by the same item sensor(s);
7) Once the vehicle notes the absence of luggage and thereafter the absence of the user, that the vehicle is in a parked state, and that any counter initiating after both sensors are off (i.e. no items and no passengers) has expired, the vehicle automatically shifts to autonomous mode and returns to the central station for reuse or maintenance.
In another embodiment, the vehicle may be packed by a user, remaining in manual mode only during the packing of the vehicle with the user's items, or perhaps never shifting to manual mode (i.e. simply remaining parked in autonomous mode, such that the user may pack the vehicle with his/her items). Once the vehicle is fully packed, the user may initiate (or the vehicle may itself initiate, based on user presets) a shift back to autonomous mode for the transport of said items, such that the user need not operate the vehicle from a source location to a destination location. Such flexibility may be required if a user has additional responsibilities instead of being able to manually transport said items in said vehicle, or alternatively if the distance between locations is far and the user simply does not desire to manually transport said items in said vehicle. Similarly, the user may desire to send the vehicle to a second user or to a second location, as input by either user, or to a second user's location. The vehicle may operate itself in autonomous mode (either switching to manual for the packing of said vehicle or remaining in a parked autonomous state) from the first user to the second user, and so on if desired to additional users/locations.
In yet another embodiment, the vehicle remains in autonomous mode at all times and is utilized instead without any driver at any time, moving from a first delivery location to a second delivery location to a third delivery location, and so on. In such an embodiment, the vehicle is utilized to transport packages comprising user items for delivery services, wherein the packages are sensed based on their weight, location, a serial number, barcode, RFID, QR code, or other electronically detectable feature located on the outside of the package. While packages remain in the vehicle, various sensors locate corresponding packages based on either a specific weight and/or label containing data correlating to that specific package. As the vehicle arrives at various destination locations of various packages, a notification is sent to the recipient either at that time and/or prior to, such that the recipient is able to receive the package from the automated vehicle. Once the package is removed by the recipient, the sensor detecting that specific package notes that the package has been delivered (security services are also available to ensure that the recipient is in fact the expected user and that the recipient does not take, by accident or intentionally, any packages not intended for that person). A counter may be initiated based on the sensor for a package turning off (i.e., the package being removed by a recipient), such that a time relationship is created from the point at which the package exits the delivery vehicle. Such time relationships based on a counter are preferred such that the vehicle does not leave a given delivery location prior to allowing the recipient to remove themselves and any items from the pathway of the vehicle. Once the counter expires, the vehicle continues on its path, as determined by the central processor based on orders/shipments made. Once the vehicle determines that no packages are left, the vehicle returns to the central station for reuse or maintenance.
In another embodiment of the package delivery system discussed directly above, the vehicle may be utilized to deliver any number of items from a first user to a second user, and so on. For example, if a mechanic is working on a vehicle and requires a particular part, the vehicle delivering packages may be utilized to bring an item from a warehouse/storage location to the mechanic, such that the mechanic need not go anywhere in order to receive the needed item.
The description of a preferred embodiment of the invention has been presented for purposes of illustration and description. It is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Obviously, many modifications and variations will be apparent to practitioners skilled in this art. It is intended that the scope of the invention be defined by the following claims and their equivalents.
Moreover, the words “example” or “exemplary” are used herein to mean serving as an example, instance, or illustration. Any aspect or design described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other aspects or designs. Rather, use of the words “example” or “exemplary” is intended to present concepts in a concrete fashion. As used in this application, the term “or” is intended to mean an inclusive “or” rather than an exclusive “or”. That is, unless specified otherwise, or clear from context, “X employs A or B” is intended to mean any of the natural inclusive permutations. That is, if X employs A; X employs B; or X employs both A and B, then “X employs A or B” is satisfied under any of the foregoing instances. In addition, the articles “a” and “an” as used in this application and the appended claims should generally be construed to mean “one or more” unless specified otherwise or clear from context to be directed to a singular form.
This patent application is a Continuation-in-Part of U.S. patent application Ser. No. 16/014,361, filed Jun. 21, 2018, now allowed, which is incorporated herein by reference in its entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | 16014361 | Jun 2018 | US |
| Child | 17137776 | US |
