Systems and methods for controlling a vehicle by teleoperation based on a speed limiter
AssigneeKodiak Robotics, Inc.
InventorAlbert N. Moser
Life of this patent
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Abstract
This disclosure provides systems and methods for controlling a vehicle by teleoperation based on a speed limiter. The method may include: receiving, at the autonomous vehicle, a teleoperation input from a teleoperation system, wherein the teleoperation input comprises a throttle control input for remotely controlling a speed of the autonomous vehicle; determining the speed of the autonomous vehicle; determining if the speed of the autonomous vehicle has reached a threshold speed below a speed limit; and upon determining that the speed of the autonomous vehicle has reached the threshold speed, reducing effect of the throttle control input from the teleoperation system such that an acceleration rate of the speed of the autonomous vehicle is reduced.
Claims18
A method of controlling an autonomous vehicle, comprising:
- receiving, at the autonomous vehicle, a teleoperation input from a teleoperation system, wherein the teleoperation input comprises a throttle control input for remotely controlling the autonomous vehicle, and wherein the throttle control input includes a throttle level requested by a teleoperator;
- and
- using a processor:
- determining the speed of the autonomous vehicle;
- determining if the speed of the autonomous vehicle has reached a threshold speed below a speed limit;
- and
- upon determining that the speed of the autonomous vehicle has reached the threshold speed, regulating a throttle level of an engine for reducing effect of the throttle control input from the teleoperation system by:
- determining a suitable throttle level as a function of the throttle level associated with the throttle control input, wherein the suitable throttle level is different than the threshold speed and different than the throttle level of the teleoperation input;
- and
- generating a throttle control request including the suitable throttle level;
- wherein reducing the effect of the throttle control input from the teleoperation system is independent of cruise control.
A system for controlling an autonomous vehicle, comprising:
- a teleoperation receiver, configured to receive a teleoperation input from a remote teleoperation system, wherein the teleoperation input comprises a throttle control input for remotely controlling the autonomous vehicle;
- and
- a processor, configured to:
- determine the speed of the autonomous vehicle;
- determine if the speed of the autonomous vehicle has reached a threshold speed below a speed limit;
- and
- upon determining that the speed of the autonomous vehicle has reached the threshold speed, regulating a throttle level of an engine to reduce effect of the throttle control input from the remote teleoperation system, by:
- determining a suitable throttle level as a function of the throttle level associated with the throttle control input, wherein the suitable throttle level is different than the threshold speed and different than the throttle level of the teleoperation input;
- and
- generating a throttle control request including the suitable throttle level;
- wherein reducing the effect of the throttle control input from the teleoperation system is independent of cruise control.
Dependencies are inferred from the claim text.