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Publication Number
US-11429101-B2
Publication Date
2022-08-30
Expiration Date
Abstract
An autonomy system for use with a vehicle in an environment. The autonomy system comprising a processor operatively coupled with a memory device, a plurality of sensors operatively coupled with the processor; a vehicle controller, a situational awareness module, a task planning module, and a task execution module. The situational awareness module being configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors. The task planning module being configured to identify, via the processor, a plurality of tasks to be performed by the vehicle and to generate a task assignment list from the plurality of tasks that is based at least in part on predetermined optimization criteria. The task execution module being configured to instruct the vehicle controller to execute the plurality of tasks in accordance with the task assignment list. The task execution module may be configured to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.
Core Innovation
The invention describes an autonomy system for use with a vehicle in an environment. The autonomy system includes a processor operatively coupled with a memory device, a plurality of sensors, a vehicle controller, a situational awareness circuit, a task planning circuit, rules of engagement and constraint verification circuit, and a task execution circuit. The situational awareness circuit determines a state of the environment based at least in part on sensor data. The task planning circuit is communicatively coupled with the situational awareness circuit to identify and manage tasks for the vehicle.
The task planning circuit is configured to identify a first plurality of tasks to be performed by the vehicle and to prioritize a task that would affect a mission while reducing priority of a task that would not affect the mission. The task planning circuit periodically determines, as a function of the state of the environment, a likelihood of success for each of the first plurality of tasks to predict an outcome. If the likelihood of success for one or more tasks is below a predetermined threshold value, the task planning circuit identifies a second plurality of tasks to be performed by the vehicle. The task planning circuit then generates a task assignment list from the first or second plurality of tasks based at least in part on predetermined optimization criteria.
The autonomy system uses rules of engagement and constraint verification circuit to determine whether any task of the first plurality or the second plurality violates one or more predetermined constraints. The task execution circuit instructs the vehicle controller to execute the first or second plurality of tasks in accordance with the task assignment list if the respective tasks do not violate the predetermined constraints. The task execution circuit also monitors the vehicle or the vehicle controller during execution to identify any errors. The architecture is described as adaptable, with standardized interface control documents and an interchangeable library of code to support rapid adaptation across vehicle types and domains.
Claims Coverage
The document includes three independent claims, respectively directed to an autonomy system for a vehicle, a method of operating a vehicle, and an autonomous aircraft. Across the independent claims, the inventive features center on sensor-based situational awareness, task planning with mission-based prioritization and likelihood-of-success prediction with threshold-based switching, generating a task assignment list based on predetermined optimization criteria, enforcing predetermined constraints via rules of engagement and constraint verification, and monitoring during task execution for errors.
Sensor-based situational awareness for determining an environment state
A situational awareness circuit is configured to determine a state of the environment based at least in part on sensor data from at least one of the plurality of sensors.
Mission-based task prioritization and likelihood-of-success prediction with threshold switching
A task planning circuit is configured to prioritize a task that would affect a mission of the vehicle and reduce priority of a task that would not affect the mission, and to periodically determine, as a function of the state of the environment, a likelihood of success for each of the first plurality of tasks to predict an outcome; if the likelihood of success for one or more of the first plurality of tasks is below a predetermined threshold value, the task planning circuit identifies a second plurality of tasks to be performed by the vehicle.
Task assignment list generation based on predetermined optimization criteria
The task planning circuit is configured to generate a task assignment list from the first or second plurality of tasks that is based at least in part on predetermined optimization criteria.
Rules of engagement and constraint verification for task validity
A rules of engagement and constraint verification circuit coupled to the task planning circuit is configured to determine if any task of the first plurality of tasks or the second plurality of tasks violates one or more predetermined constraints.
Constrained task execution with monitoring for errors
A task execution circuit operatively coupled with the vehicle controller is configured to instruct the vehicle controller to execute the first or second plurality of tasks in accordance with the task assignment list if the respective plurality of tasks does not violate the one or more predetermined constraints, and to monitor the vehicle or the vehicle controller during execution of the task assignment list to identify any errors.
Likelihood-of-success threshold reflecting deployable object target reach
The predetermined threshold value reflects a likelihood that a deployable object will reach a target based on its release at an altitude, a heading, or a vehicle speed.
Autonomous aircraft threat identification and threat-prioritized task planning
The situational awareness circuit is configured to determine a state of the environment and to identify one or more threats to autonomous aircraft in the environment, and the task planning circuit is configured to prioritize a task as a function of the one or more threats.
Across the independent claims, the system and method combine sensor-based situational awareness with task planning that includes mission-based prioritization and periodic likelihood-of-success prediction, switching to a second plurality of tasks when a predetermined threshold is not satisfied, generating a task assignment list using predetermined optimization criteria, verifying tasks against predetermined constraints using rules of engagement and constraint verification, and executing only compliant tasks while monitoring for errors. The autonomous aircraft claim further includes identifying threats and prioritizing tasks based on the threats.
Stated Advantages
Provides task switching to a second plurality of tasks when predicted likelihood of success falls below a predetermined threshold.
Executes tasks only when tasks do not violate one or more predetermined constraints.
Monitors during execution to identify any errors.
In the autonomous aircraft, prioritizes tasks as a function of one or more threats.
Documented Applications
Adaptation across vehicle types and domains including aircraft, ground, surface, and cyber, using standardized interface control documents and an interchangeable library of code.
UAV sensing/ISR payload integration and sensor fusion/track management are described as examples in the adaptability discussion.
An end-to-end automation flow culminating in execution of a task assignment list with possible re-planning when execution outcomes degrade is described.
Collaborative operation is described in the architecture summary as optional cross-vehicle task consensus/negotiation for collaborative efficiency.
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