# US 2019/0317501 A1 · Dynamic in-cabin autonomous vehicle control systems

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- Number: US 2019/0317501 A1
- Document ID: US20190317501A1
- Status: Published application
- Kind: A1
- Application number: 16/455,140
- Filed: 2019-06-27
- Published: 2019-10-17
- Earliest claimed: 2016-05-27
- Assignees: CNH Industrial America LLC; Autonomous Solutions, Inc.
- Applicants: CNH Industrial America LLC; Autonomous Solutions, Inc.
- Inventors: Christopher A. Foster; John H. Posselius; Bret T. Turpin; Daniel J. Morwood
- Web page: https://patentgrep.com/patent/US20190317501A1

## CPC

- A01B 69/008: {automatic}
- A01B 69/00: Steering of agricultural machines or implements; Guiding agricultural machines or implements on a desired track
- G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)}
- G05D 1/0295: {by at least one leading vehicle of the fleet}
- B62D 49/06: adapted for multi-purpose use
- A01B: SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL (making or covering furrows or holes for sowing, planting or manuring A01C5/00; mowers convertible to soil working apparatus or capable of soil working A01D42/04; mowers combined with soil working implements A01D43/12; soil working for engineering purposes E01, E02, E21)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)

## Abstract

One embodiment describes a control system in an automation system including a first portion located at a first vehicle, which includes a first autonomous module that autonomously controls operation of the first vehicle to perform operations in a first area based at least in part on a first target operation result while the first portion is in an autonomous mode; and a second portion located at a second vehicle, in which the second portion includes a second autonomous module that autonomously controls operation of the second vehicle to perform operations in a second area based at least in part on a second target operation result while the second portion is in the autonomous mode and a first command module that determines the first target operation result and the second target operation result based at least in part on a global plan that indicates a total target operation result.

## Claims

### Claim 1

A method of controlling and monitoring operation of an autonomous vehicle fleet, comprising:
autonomously controlling, using a first autonomous module located at a first autonomous vehicle, operation of the first autonomous vehicle while the first autonomous vehicle is in an autonomous mode;
autonomously controlling, using a second autonomous module located at a second autonomous vehicle, operation of the second autonomous vehicle while the second autonomous vehicle is in the autonomous mode;
receiving, using a first command module located at the first autonomous vehicle, sensor data indicative of operation of the second autonomous vehicle from one or more sensors;
performing, using the first command module, diagnostics by processing, analyzing, or both the sensor data; and
instructing, using the first command module, a display of the first autonomous vehicle to present a visual representation of the sensor data, results of the diagnostics, or both to enable an operator located at the first autonomous vehicle to manually control, monitor, or both control and monitor operation of the second autonomous vehicle from the first autonomous vehicle based at least in part on the sensor data, the results of the diagnostics, or both.

### Claim 2 (depends on 1)

The method of claim 1, wherein:
autonomously controlling operation of the first autonomous vehicle comprises instructing the first autonomous vehicle to plant seeds at first target locations within a first target area with a first target seed density; and
autonomously controlling operation of the second autonomous vehicle comprises instructing the second autonomous vehicle to plant seeds at second target locations within a second target area with a second target seed density.

### Claim 3 (depends on 1)

The method of claim 1, comprising:
detecting, using the first command module, whether a disturbance condition is affecting operation of the second autonomous vehicle based on the results of the diagnostics; and
when the disturbance condition is detected:
instructing, using the first command module, the second autonomous vehicle to switch from the autonomous mode to a manual mode;
receiving, using the first command module, user inputs from the operator via input devices of the first autonomous vehicle; and
communicating, using the first command module, the user inputs from the first command module to the second autonomous vehicle to instruct the second autonomous vehicle to adjust operation based on the user inputs.

### Claim 4 (depends on 1)

The method of claim 1, wherein performing the diagnostics comprises:
determining whether a disturbance condition is affecting operation of the second autonomous vehicle based at least in part on the sensor data;
determining an expected cause of the disturbance condition based at least in part on the sensor data;
determining procedures expected to mitigate the disturbance condition based at least in part on the sensor data; or any combination thereof.

### Claim 5 (depends on 1)

The method of claim 1, wherein autonomously controlling operation of the first autonomous vehicle comprises:
determining target results from operation of the first autonomous vehicle, wherein the target results comprises a target area assigned the first autonomous vehicle, target locations within the target area at which to perform an agricultural operation, density at each of the target locations with which to perform the agricultural operation, spacing at each of the target locations with which to perform the agricultural operation, or any combination thereof;
determining operational parameters to achieve the target results, wherein the operational parameters comprise a path in the target area, speed along the path, adjustments to operation of an agricultural attachment towed by the first autonomous vehicle, or any combination thereof to achieve the target results; and
instructing the first autonomous vehicle to implement the operational parameters by:
adjusting steering of the first autonomous vehicle to follow the path;
adjusting fuel supply to an internal combustion engine of the first autonomous vehicle to facilitate traveling the speed;
adjusting force applied to brakes of the first autonomous vehicle to facilitate traveling the speed;
adjusting gear ration of a transmission of the first autonomous vehicle to facilitate traveling the speed;
instructing the agricultural attachment to make the adjustments to operation;
or any combination thereof.

### Claim 6

An autonomous vehicle system comprising:
a first autonomous module to be deployed in a first autonomous vehicle of the autonomous vehicle system, wherein the first autonomous module is configured to autonomously control operation of the first autonomous vehicle based at least in part on first sensor data associated with operation of the first autonomous vehicle while the first autonomous vehicle is in an autonomous mode; and
an activated command module to be deployed in one of a plurality of autonomous vehicles comprising the first autonomous vehicle and a second autonomous vehicle, wherein the activated command module is configured to, while the first autonomous vehicle is in the autonomous mode:
instruct the first autonomous vehicle to disengage a first one or more input devices implemented in the first autonomous vehicle to enable the first autonomous module to autonomously control operation of the first autonomous vehicle; and
when the activated command module is deployed in the first autonomous vehicle, instruct the first autonomous vehicle to relay a first one or more user inputs received via the first one or more input devices deployed in the first autonomous vehicle to the second autonomous vehicle in the autonomous vehicle system to enable an operator to manually control operation of the second autonomous vehicle using the first one or more input devices deployed in the first autonomous vehicle while the second autonomous vehicle is in a manual mode.

### Claim 7 (depends on 6)

The autonomous vehicle system of claim 6, comprising a second autonomous module to be deployed in the second autonomous vehicle of the autonomous vehicle system, wherein:
the second autonomous module is configured to autonomously control operation of the second autonomous vehicle based at least in part on second sensor data associated with operation of the second autonomous vehicle while the second autonomous vehicle is in the autonomous mode; and
the activated command module is configured to:
perform diagnostics on operation of the autonomous vehicle system based at least in part on the first sensor data associated with operation of the first autonomous vehicle and the second sensor data associated with operation of the second autonomous vehicle; and
instruct an electronic display deployed in the one of the plurality of autonomous vehicles to display a first visual representation of the first sensor data, a second visual representation of the second sensor data, a third visual representation of a result of the diagnostics, or any combination thereof to enable the operator to control, monitor, or both control and monitor operation of the autonomous vehicle system from the one of the plurality of autonomous vehicles.

### Claim 8 (depends on 6)

The autonomous vehicle system of claim 6, comprising a second autonomous module to be deployed in the second autonomous vehicle of the autonomous vehicle system, wherein, while the second autonomous vehicle is in the autonomous mode:
the second autonomous module is configured to autonomously control operation of the second autonomous vehicle based at least in part on second sensor data associated with operation of the second autonomous vehicle; and
the activated command module is configured to:
instruct the second autonomous vehicle to disengage a second one or more input devices implemented in the second autonomous vehicle to enable the second autonomous module to autonomously control operation of the second autonomous vehicle; and
when the activated command module is deployed in the second autonomous vehicle, instruct the second autonomous vehicle to relay a second one or more user inputs received via the second one or more input devices deployed in the second autonomous vehicle to the first autonomous vehicle in the autonomous vehicle system to enable the operator to manually control operation of the first autonomous vehicle using the second one or more input devices deployed in the second autonomous vehicle while the first autonomous vehicle is in the manual mode.

### Claim 9 (depends on 6)

The autonomous vehicle system of claim 6, wherein, when the activated command module is deployed in the first autonomous vehicle, the activated command module is configured to instruct the first autonomous vehicle to engage the first one or more input devices deployed in the first autonomous vehicle to enable the operator to manually control operation of the first autonomous vehicle using the first one or more input devices deployed in the first autonomous vehicle while the first autonomous vehicle is in the manual mode.

### Claim 10 (depends on 6)

The autonomous vehicle system of claim 6, wherein:
the first one or more input devices deployed in the first autonomous vehicle comprise a steering wheel; and
when the activated command module is deployed in the first autonomous vehicle while the first autonomous vehicle is in the autonomous mode, the activated command module is configured to instruct the first autonomous vehicle to relay a steering wheel user input received via the steering wheel deployed in the first autonomous vehicle to the second autonomous vehicle to enable the operator to manually control travel direction of the second autonomous vehicle using the steering wheel deployed in the first autonomous vehicle while the second autonomous vehicle is in the manual mode.

### Claim 11 (depends on 6)

The autonomous vehicle system of claim 6, wherein:
the first one or more input devices deployed in the first autonomous vehicle comprise a gas pedal; and
when the activated command module is deployed in the first autonomous vehicle while the first autonomous vehicle is in the autonomous mode, the activated command module is configured to instruct the first autonomous vehicle to relay a gas pedal user input received via the gas pedal deployed in the first autonomous vehicle to the second autonomous vehicle to enable the operator to manually control acceleration of the second autonomous vehicle using the gas pedal deployed in the first autonomous vehicle while the second autonomous vehicle is in the manual mode.

### Claim 12 (depends on 6)

The autonomous vehicle system of claim 6, wherein:
the first one or more input devices deployed in the first autonomous vehicle comprise a brake pedal; and
when the activated command module is deployed in the first autonomous vehicle while the first autonomous vehicle is in the autonomous mode, the activated command module is configured to instruct the first autonomous vehicle to relay a brake pedal user input received via the brake pedal deployed in the first autonomous vehicle to the second autonomous vehicle to enable the operator to manually control deceleration of the second autonomous vehicle using the brake pedal deployed in the first autonomous vehicle while the second autonomous vehicle is in the manual mode.

### Claim 13 (depends on 6)

The autonomous vehicle system of claim 6, wherein:
the first autonomous vehicle comprises a first autonomous agricultural vehicle, a first autonomous delivery vehicle, a first autonomous consumer vehicle, a first autonomous public transportation vehicle, or a first autonomous military vehicle; and
the second autonomous vehicle comprises a second autonomous agricultural vehicle, a second autonomous delivery vehicle, a second autonomous consumer vehicle, a second autonomous public transportation vehicle, or a second autonomous military vehicle.

### Claim 14

A tangible, non-transitory, computer-readable medium storing instructions executable by processing circuitry of an autonomous vehicle system, wherein the instructions comprise instructions to:
determine, using the processing circuitry, first sensor data resulting from operation of a first autonomous vehicle in the autonomous vehicle system; and
while the first autonomous vehicle is in an autonomous mode:
instruct, using the processing circuitry, the first autonomous vehicle to disengage a first one or more input devices deployed in the first autonomous vehicle to enable a first autonomous module to autonomously control operation of the first autonomous vehicle based at least in part on the first sensor data; and
instruct, using the processing circuitry, the first autonomous vehicle to relay a first one or more user inputs received via the first one or more input devices deployed in the first autonomous vehicle to a second autonomous vehicle in the autonomous vehicle system to enable a user to manually control operation of the second autonomous vehicle using the first one or more input devices deployed in the first autonomous vehicle while the second autonomous vehicle is in a manual mode.

### Claim 15 (depends on 14)

The tangible, non-transitory, computer-readable medium of claim 14, comprising instructions to:
determine, using the processing circuitry, second sensor data resulting from operation of the second autonomous vehicle in the autonomous vehicle system; and
perform, using the processing circuitry, diagnostics on operation of the second autonomous vehicle based at least in part on the second sensor data; and
instruct, using the processing circuitry, an electronic display deployed at the first autonomous vehicle to display a first visual representation of the second sensor data resulting from operation of the second autonomous vehicle, a second visual representation of a result of the diagnostics, or both to enable the user to control, monitor, or both control and monitor operation of the second autonomous vehicle from the first autonomous vehicle.

### Claim 16 (depends on 14)

The tangible, non-transitory, computer-readable medium of claim 14, comprising instructions to instruct, using the processing circuitry, the first autonomous vehicle to engage the first one or more input devices deployed in the first autonomous vehicle to enable the user to manually control operation of the first autonomous vehicle using the first one or more input devices deployed in the first autonomous vehicle while the first autonomous vehicle is in the manual mode.

### Claim 17 (depends on 14)

The tangible, non-transitory, computer-readable medium of claim 14, comprising instructions to:
determine, using the processing circuitry, second sensor data resulting from operation of the second autonomous vehicle in the autonomous vehicle system; and
while the second autonomous vehicle is in the autonomous mode:
instruct, using the processing circuitry, the second autonomous vehicle to disengage a second one or more input devices deployed in the second autonomous vehicle to enable a second autonomous module to autonomously control operation of the second autonomous vehicle based at least in part on the second sensor data; and
instruct, using the processing circuitry, the second autonomous vehicle to relay a second one or more user inputs received via the second one or more input devices deployed in the second autonomous vehicle to the first autonomous vehicle to enable the user to manually control operation of the first autonomous vehicle using the second one or more input devices deployed in the second autonomous vehicle while the first autonomous vehicle is in the manual mode.

### Claim 18 (depends on 14)

The tangible, non-transitory, computer-readable medium of claim 14, wherein:
the first one or more input devices deployed in the first autonomous vehicle comprise a steering wheel; and
the instructions to instruct the first autonomous vehicle to relay the first one or more user inputs to the second autonomous vehicle comprise instructions to instruct the first autonomous vehicle to relay a steering wheel user input received via the steering wheel deployed in the first autonomous vehicle to the second autonomous vehicle to enable the user to manually control travel direction of the second autonomous vehicle using the steering wheel deployed in the first autonomous vehicle.

### Claim 19 (depends on 14)

The tangible, non-transitory, computer-readable medium of claim 14, wherein:
the first one or more input devices deployed in the first autonomous vehicle comprise a gas pedal; and
the instructions to instruct the first autonomous vehicle to relay the first one or more user inputs to the second autonomous vehicle comprise instructions to instruct the first autonomous vehicle to relay a gas pedal user input received via the gas pedal deployed in the first autonomous vehicle to the second autonomous vehicle to enable the user to manually control travel speed of the second autonomous vehicle using the gas pedal deployed in the first autonomous vehicle.

### Claim 20 (depends on 14)

The tangible, non-transitory, computer-readable medium of claim 14, wherein:
the first one or more input devices deployed in the first autonomous vehicle comprise a brake pedal; and
the instructions to instruct the first autonomous vehicle to relay the first one or more user inputs to the second autonomous vehicle comprise instructions to instruct the first autonomous vehicle to relay a brake pedal user input received via the brake pedal deployed in the first autonomous vehicle to the second autonomous vehicle to enable the user to manually control travel speed of the second autonomous vehicle using the brake pedal deployed in the first autonomous vehicle.