A method of controlling a vehicle includes reducing a speed of the vehicle in response to a vehicle shutdown signal, monitoring at least one of a speed of the vehicle and a torque of an engine of the vehicle, determining whether the monitored at least one of the speed and torque is decreasing, if the monitored at least one of the speed and torque is not decreasing, enabling the engine of the vehicle to operate at a reduced power level, and stopping the vehicle when the monitored at least one of the speed and torque has reached a predetermined level. A control system for a vehicle includes a processor that reduces a speed of the vehicle in response to a vehicle shutdown signal. The processor monitors at least one of a speed of the vehicle and a torque of an engine of the vehicle and determines whether the monitored at least one of the speed and torque is decreasing. If the monitored at least one of the speed and torque is not decreasing, the processor enables the engine of the vehicle to operate at a reduced power level. The processor causes the vehicle to stop the vehicle when the monitored at least one of the speed and torque has reached a predetermined level. In addition, a computer-readable medium containing a computer program for controlling a vehicle.
This application claims the benefit of U.S. Provisional Patent Application No. 60/538,792 filed on Jan. 23, 2004, by John G. Bate et al. for "Improved Vehicle Stopping System and Method. The entirety of that Provisional Patent Application is incorporated here by reference.
Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.
System and method for multi-modal control of a vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, accelerator, throttle lever, steering gear, tie rods, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. After receipt of a mode select command that dictates the operational mode of the vehicle (e.g., manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation), the actuators manipulate the operator input devices, in accordance with the behaviors, to affect the desired operational mode.
System and method for processing a safety signal in an autonomous vehicle. Safety signals are typically generated in response to the detection of unsafe conditions or are sent by the vehicle operator. In either case, the safety signals are conveyed using redundant communication paths. The paths include a computer network and a current loop. The safety signals are processed, thereby causing actuators (e.g., linkages) to manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, accelerator, or transmission shifter). The manipulation ensures the vehicle responds appropriately to the safety signals, for example, by shutting down the vehicle.
