Systems and methods for switching between autonomous and manual operation of a vehicle

A robotically operated vehicle, comprising:

• at least one electrically actuated clutch that is normally disengaged, the at least one electrically actuated clutch being capable of causing a mechanical vehicle control system to operate in an autonomous mode by allowing the mechanical vehicle control system to receive control signals from an autonomous control system, the mechanical vehicle control system being capable of receiving manual inputs to operate the vehicle in a manual mode when the at least one electrically actuated clutch is disengaged;
• the mechanical vehicle control system comprising:
• a steering system capable of controlling a direction of movement of the vehicle;
• a braking system capable of controlling braking of the vehicle;
• a throttle system capable of controlling a speed of the vehicle;
• a transmission system capable of selecting a gear for the vehicle;
• and
• at least one actuator capable of, in accordance with the control signals and as allowed by the at least one electrically actuated clutch, operating the steering system, the braking system, the throttle system, and the transmission system;
• the autonomous control system configured to operate the mechanical vehicle control system in an autonomous mode when the at least one electrically actuated clutch is engaged by generating the control signals for the steering system, the braking system, the throttle system, and the transmission system;
• and
• an E-Stop system configured to remove power from the at least one electrically actuated clutch, while leaving power in the autonomous control system.

A method for changing operation of a vehicle from manual mode to autonomous, the method comprising:

• in response to manual inputs received at a mechanical vehicle control system, operating the vehicle in the manual mode in accordance with the manual inputs, the mechanical vehicle control system comprising a steering system, a braking system, a throttle system, and a transmission system, wherein operating the vehicle in the manual mode comprises:
• allowing the steering system to control a direction of movement of the vehicle in accordance with the manual inputs;
• allowing the braking system to control braking of the vehicle in accordance with the manual inputs;
• allowing the throttle system to control a speed of the vehicle in accordance with the manual inputs;
• and
• allowing the transmission system to select a gear for the vehicle in accordance with the manual inputs;
• in response to a mode switch signal from a controller, preventing, by an electric clutch, operation of the mechanical vehicle control system in the manual mode;
• and
• causing the mechanical vehicle control system to operate in the autonomous mode via at least one actuator, comprising:
• receiving control signals from the controller;
• allowing the steering system to control the direction of movement of the vehicle in accordance with the control signals;
• allowing the braking system to control braking of the vehicle in accordance with the control signals;
• allowing the throttle system to control a speed of the vehicle in accordance with the control signals;
• and
• allowing the transmission system to select a gear for the vehicle in accordance with the control signals.