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1. (WO2019032353) STRATEGY MODES FOR AUTONOMOUS VEHICLE OPERATIONS
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CLAIMS

WHAT IS CLAIMED IS:

1. A method of operating an autonomous ground-based vehicle, comprising:

detecting at least one of a strategy mode or an action of a second vehicle;

detecting at least one aspect related to an environment;

selecting a strategy mode for the autonomous ground-based vehicle based at least in part on the detected at least one of the strategy mode or the action of the second vehicle, and the detected at least one aspect related to the environment, wherein the strategy mode for the autonomous ground-based vehicle comprises one of an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, or a preventative strategy mode;

determining at least one topological constraint associated with the environment; and selecting an action for the autonomous ground-based vehicle based at least in part on the selected strategy mode for the autonomous ground-based vehicle and the determined at least one topological constraint associated with the environment.

2. The method of claim 1, wherein the strategy mode for the autonomous ground-based vehicle is further selected based at least in part on an operational goal associated with the autonomous ground-based vehicle.

3. The method of claim 2, wherein the operational goal comprises at least one of safety, resolvability, or efficiency.

4. The method of any of claims 1, 2, or 3, wherein the at least one topological constraint comprises at least one of pathway characteristics or conditions, weather associated the environment, or characteristics or capabilities of the autonomous ground-based vehicle.

5. A method of operating an autonomous vehicle, comprising:

detecting at least one of a strategy mode or an action of a second vehicle;

selecting a strategy mode for the autonomous vehicle based at least in part on the detected at least one of the strategy mode or the action of the second vehicle, wherein the strategy mode for the autonomous vehicle comprises one of an uncoupled strategy mode, a permissive strategy mode, an assistive strategy mode, or a preventative strategy mode; and

selecting an action for the autonomous vehicle based at least in part on the selected strategy mode for the autonomous vehicle.

6. The method of claim 5, wherein the at least one of the strategy mode or the action of the second vehicle is detected based at least in part on a one-way notification from the second vehicle.

7. The method of any of claims 5 or 6, wherein responsive to selection of the uncoupled strategy mode, the selected action for the autonomous vehicle comprises an uncoupled action that is uncoupled from the action of the second vehicle.

8. The method of any of claims 5, 6, or 7, wherein responsive to selection of the permissive strategy mode, the selected action for the autonomous vehicle comprises a continuation of a current action.

9. The method of any of claims 5, 6, 7, or 8, wherein responsive to selection of the assistive strategy mode, the selected action for the autonomous vehicle comprises an assistive action that facilitates the action of the second vehicle.

10. The method of any of claims 5, 6, 7, 8, or 9, wherein responsive to selection of the preventative strategy mode, the selected action for the autonomous vehicle comprises a preventative action that prevents the action of the second vehicle.

11. The method of any of claims 5, 6, 7, 8, 9, or 10, further comprising:

detecting at least one aspect related to an environment;

wherein the strategy mode for the autonomous vehicle is further selected based at least in part on the detected at least one aspect related to the environment.

12. The method of claim 11, wherein the at least one aspect related to the environment comprises an element in the environment, the element comprising at least one of a natural obstacle, a building, a weather formation, a pathway characteristic, a pedestrian, a cyclist, or an animal.

13. The method of any of claims 5, 6, 7, 8, 9, 10, 11, or 12, further comprising:

determining at least one topological constraint associated with the environment; and wherein the action for the autonomous vehicle is further selected based at least in part on the determined at least one topological constraint associated with the environment.

14. The method of claim 13, wherein the at least one topological constraint comprises at least one of pathway characteristics or conditions, weather conditions associated the environment, or characteristics or capabilities of the autonomous vehicle.

15. The method of any of claims 5, 6, 7, 8, 9, 10, 11, 12, 13, or 14, wherein the strategy mode for the autonomous vehicle is further selected based at least in part on an operational goal associated with the autonomous vehicle, wherein the operational goal comprises at least one of safety, resolvability, or efficiency.