# US 11,029,157 B2 · Autonomous vehicle navigation system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,029,157 B2 - Document ID: US11029157B2 - Status: Granted - Kind: B2 - Application number: 15/815,245 - Filed: 2017-11-16 - Published: 2018-03-15 - Granted: 2021-06-08 - Earliest claimed: 2014-03-15 - Assignees: Aurora Flight Sciences Corporation - Applicants: Aurora Flight Sciences Corporation - Inventors: James Paduano; Terrence McKenna - Web page: https://patentgrep.com/patent/US11029157B2 ## CPC - G01C 21/20: Instruments for performing navigational calculations (G01C21/24, G01C21/26 take precedence) - G01C 21/1656: {with passive imaging devices, e.g. cameras} - G01C 23/00: Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed or acceleration - G01S 7/52003: {Techniques for enhancing spatial resolution of targets (G01S7/52046 takes precedence)} - G01S 15/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S15/46) - G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection - G01S 15/87: Combinations of sonar systems - G01S 15/89: for mapping or imaging - G01S 15/93: for anti-collision purposes - G01S 19/13: Receivers - G05D 1/106: {Change initiated in response to external conditions, e.g. avoidance of elevated terrain or of no-fly zones} - G08G 9/02: Anti-collision systems - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract An autonomous vehicle is improved with a navigational system having both cameras and echolocation sensors. The cameras and echolocation sensors may be part of an optical and echolocation system, respectively, that may work in conjunction with, for example, a global positioning system to determine a course for the autonomous vehicle to reach an objective while detecting and avoid obstacles along the course. ## Claims ### Claim 1 An aerial vehicle comprising: an acoustic system coupled to the aerial vehicle and configured to provide a plurality of acoustic fields of view via a plurality of acoustic transceivers that are oriented toward a direction of travel of the aerial vehicle, wherein the acoustic system is configured to employ a beamforming technique and to aggregate at least a portion of the plurality of acoustic fields of view to acoustically identify obstacles; a processor operatively coupled to the acoustic system, wherein, upon detection of an obstacle by the acoustic system, the processor is configured to calculate dynamically a dodging maneuver for the aerial vehicle to avoid the obstacle; and a steering mechanism to steer the aerial vehicle in response to commands from the processor, wherein the steering mechanism comprises a plurality of rotors to provide lift to the aerial vehicle, wherein the steering mechanism is configured to effectuate the dodging maneuver in response to commands from the processor. ### Claim 2 (depends on 1) The aerial vehicle of claim 1, wherein the acoustic system and the processor are provided as a module that is configured to removably couple with the aerial vehicle. ### Claim 3 (depends on 1) The aerial vehicle of claim 1, further comprising an optical system coupled to the aerial vehicle and the processor, wherein the optical system is configured to provide an optical field of view about at least a portion of the aerial vehicle and to optically identify obstacles within the optical field of view. ### Claim 4 (depends on 3) The aerial vehicle of claim 3, wherein the optical system includes one or more infrared sensors. ### Claim 5 (depends on 3) The aerial vehicle of claim 3, wherein the optical system employs a plurality of cameras, each of which having a field of view, wherein the optical system is configured to aggregate images from each of said plurality of cameras. ### Claim 6 (depends on 5) The aerial vehicle of claim 5, wherein the optical system is configured to aggregate images from each of said plurality of cameras to provide three hundred and sixty degrees of optical field of view. ### Claim 7 (depends on 3) The aerial vehicle of claim 3, wherein the optical system comprises two or more cameras configured to optically identify obstacles using three-dimensional reconstruction techniques. ### Claim 8 (depends on 3) The aerial vehicle of claim 3, wherein the optical field of view overlaps at least in part with the acoustic field of view. ### Claim 9 (depends on 8) The aerial vehicle of claim 8, wherein the optical field of view encompasses the acoustic field of view. ### Claim 10 (depends on 3) The aerial vehicle of claim 3, wherein the optical system comprises a laser-based optical device. ### Claim 11 (depends on 3) The aerial vehicle of claim 3, wherein the processor is configured to use movement information as feedback to control the steering mechanism, wherein the movement information comprises speed or heading information that is generated by the processor through optical flow processing of data from the optical system. ### Claim 12 (depends on 1) The aerial vehicle of claim 1, wherein the processor is configured to determine at least a portion of a navigational path for the aerial vehicle from a first position to a second position, and wherein the processor is configured to steer the aerial vehicle along the navigational path in response to commands from the processor. ### Claim 13 (depends on 12) The aerial vehicle of claim 12, wherein the processor is configured to command the steering mechanism to effectuate the dodging maneuver to deviate from the navigational path upon detection of the obstacle. ### Claim 14 (depends on 13) The aerial vehicle of claim 13, wherein the processor is configured to command the steering mechanism to return the aerial vehicle to the navigational path upon completion of the dodging maneuver. ### Claim 15 (depends on 14) The aerial vehicle of claim 14, wherein the processor is configured to command the steering mechanism to effectuate the dodging maneuver until the obstacle is no longer detected by the acoustic system. ### Claim 16 (depends on 12) The aerial vehicle of claim 12, further comprising a geolocation system to provide a position of the aerial vehicle within an operating environment, wherein the geolocation system employs a global positioning system (GPS) transceiver to dynamically determine the first position of the aerial vehicle. ### Claim 17 (depends on 12) The aerial vehicle of claim 12, wherein the first position is an estimated position of the aerial vehicle that is based at least in part on a function of a previous position of the aerial vehicle and movement information of the aerial vehicle. ### Claim 18 (depends on 12) The aerial vehicle of claim 12, wherein the processor is configured to determine the navigational path based at least in part on environment data reflecting known obstacle locations. ### Claim 19 (depends on 1) The aerial vehicle of claim 1, wherein the dodging maneuver is a predetermined maneuver selected based at least in part on a characteristic or a position of the obstacle. ### Claim 20 (depends on 1) The aerial vehicle of claim 1, wherein the aerial vehicle is configured with a manually piloted operation, wherein the dodging maneuver from the processor preempts commands by a user from a remote user interface during the manually piloted operation. ### Claim 21 (depends on 20) The aerial vehicle of claim 20, wherein the remote user interface comprises a display device to display to the user video captured by the aerial vehicle. ### Claim 22 (depends on 1) The aerial vehicle of claim 1, wherein at least one of the plurality of acoustic transceivers is an ultrasonic sensor. ### Claim 23 (depends on 1) The aerial vehicle of claim 1, wherein the processor is configured to determine a distance between the aerial vehicle and an obstacle based at least in part on sensor data from the acoustic system. ### Claim 24 (depends on 1) The aerial vehicle of claim 1, wherein the aerial vehicle further comprises one or more RADAR or LIDAR sensors operatively coupled to the processor that are configured to detect obstacles. ### Claim 25 (depends on 1) The aerial vehicle of claim 1, wherein the processor is configured to calculate a size of the obstacle. ### Claim 26 An aerial vehicle comprising: an acoustic system coupled to the aerial vehicle to provide an acoustic field of view about at least a portion of the aerial vehicle, wherein the acoustic system is configured to employ a beamforming technique and to acoustically identify obstacles within the acoustic field of view using at least one of a first and a second acoustic transceiver configured to output an acoustic signal and to detect an echo of the acoustic signal, wherein the first acoustic transceiver has a first field of view, wherein the second acoustic transceiver has a second field of view, wherein the first field of view and the second field of view at least partially overlap, and wherein the acoustic field of view comprises the first field of view and the second field of view; an optical system coupled to the aerial vehicle, wherein the optical system is configured to provide an optical field of view about at least a portion of the aerial vehicle and to optically identify obstacles within the optical field of view; a processor operatively coupled to the acoustic system and the optical system, wherein, upon detection of an obstacle by the optical system or the acoustic system, the processor is configured to calculate dynamically a dodging maneuver for the aerial vehicle to avoid the obstacle; and a steering mechanism to steer the aerial vehicle in response to commands from the processor, wherein the steering mechanism is configured to effectuate the dodging maneuver in response to commands from the processor, wherein the dodging maneuver from the processor preempts other commands from the processor. ### Claim 27 An aerial vehicle comprising: an acoustic system coupled to the aerial vehicle and configured to provide an acoustic field of view to acoustically identify obstacles via one or more acoustic transceivers that are oriented toward a direction of travel of the aerial vehicle; an optical system configured to provide an optical field of view about at least a portion of the aerial vehicle and to optically identify obstacles within the optical field of view a processor operatively coupled to the acoustic system and the optical system, and configured to generate control signals, wherein the processor is configured to generate speed or heading information through optical flow processing of data from the optical system, and wherein the processor is configured to use the speed or heading information as feedback; and a steering mechanism to steer the aerial vehicle in response to the control signals from the processor, wherein the steering mechanism comprises a plurality of rotors to provide lift to the aerial vehicle.