US 12,001,207 B2
System for controlling an autonomous driving vehicle or air vessel, which can be controlled on the basis of steering and acceleration values, and an autonomous driving vehicle or air vessel provided with such a system
Stephan Johannes Smit, Utrecht (NL); and Johannes Wilhelmus Maria Van Bentum, Utrecht (NL)
Filed by Stephan Johannes Smit, Utrecht (NL); and Johannes Wilhelmus Maria Van Bentum, Utrecht (NL)
Filed on Aug. 7, 2020, as Appl. No. 16/987,612.
Claims priority of application No. 2023628 (NL), filed on Aug. 9, 2019.
Prior Publication US 2021/0041872 A1, Feb. 11, 2021
Int. Cl. G05D 1/00 (2006.01); B60W 30/06 (2006.01); B60W 60/00 (2020.01); G01C 21/34 (2006.01); G01C 21/36 (2006.01); G05D 1/02 (2020.01); G08G 5/00 (2006.01)
CPC G05D 1/0088 (2013.01) [B60W 30/06 (2013.01); B60W 60/0015 (2020.02); G01C 21/3407 (2013.01); G01C 21/3602 (2013.01); G05D 1/0246 (2013.01); G05D 1/0251 (2013.01); G05D 1/0274 (2013.01); G05D 1/101 (2013.01); G08G 5/0034 (2013.01); G08G 5/0047 (2013.01); B60W 2420/42 (2013.01); B60W 2520/00 (2013.01); G05D 2201/0213 (2013.01)] 13 Claims
OG exemplary drawing
 
13. A computer-implemented method to control a vehicle, wherein the vehicle comprises a land-based vehicle or an aircraft, the method comprising:
obtaining, by one or more processors, a destination for the vehicle, wherein the destination is selected from a finite list of destinations;
determining, by the one or more processors, a current location of the vehicle based on obtaining a last known location of the vehicle;
generating, by the one or more processors, a route from the current location of the vehicle to the destination, wherein the route comprises one or more navigational points;
converting, by the one or more processors, the route into one or more navigational instructions, wherein each navigational instruction of the navigational instructions comprises a terminating navigational point selected from the navigational points;
continuously obtaining, by the one or more processors, images from a camera, wherein the at least one camera captures images from the vehicle;
storing, by the one or more processors, the images in a data storage;
based on the storing, annotating, by the one or more processors, each stored image of the stored images in the data storage with an annotation representing the navigation point of the navigational points representing a physical position of the vehicle when each image was obtained;
obtaining, by the one or more processors, a control value and an acceleration value for at least one navigational instruction of the navigational instructions, wherein the control value and the acceleration value comprise movement instructions to control the vehicle to execute the at least one navigational instruction, the obtaining comprising:
obtaining, by the one or more processors, a live image from the camera;
comparing, by the one or more processors, the live image to a portion of the stored images;
based on the comparing, determining, by the one or more processors, a degree of correspondence between the live image and the portion;
based on the degree of correspondence, generating, by the one or more processors, a safety value;
comparing, by the one or more processors, the safety value to a predetermined value;
based on determining that the safety value is greater than the predetermined value, obtaining the control value and the acceleration value based on converting the at least one navigational instruction to the control value and the acceleration value; and
based on determining that the safety value is less than or equal to the predetermined value, requesting, by the one or more processors, the control value and the acceleration value and obtaining the control value and the acceleration value responsive to the requesting;
updating, by the one or more processors, at least one stored image of the stored images in the data storage with the acceleration value;
controlling, by the one or more processors, the vehicle to execute the at least one navigational instruction, wherein the executing is based on the control value and the acceleration value;
obtaining, by the one or more processors, a current image from the camera after the controlling; and
confirming, by the one or more processors, the executing of the at least one navigational instruction based on analyzing the current image to determine that the vehicle has reached the terminating navigational point of the at least one navigational instruction.