Transitioning between a manned control mode and an unmanned control mode based on assigned priority

Abstract

A controller can configure a machine to operate in a plurality of modes, including a human control mode, a remote control mode, and an autonomous control mode. The controller can receive a request for the machine to perform an action; and determine a requested mode of operation of the machine associated with the request. The requested mode of operation can be one of the plurality of modes. The controller can selectively reject the request or enable the machine to perform the action based on a priority assigned to a current mode of operation of the machine and a priority assigned to the requested mode of operation.

Description

TECHNICAL FIELD

[0001] The present disclosure relates generally to enabling a machine to transition between a manned control mode and an unmanned control mode, and, for example, to transitioning between a manned control mode and an unmanned control mode based on an assigned priority. BACKGROUND

[0002] Construction vehicles (e.g., compactors or soil compactors) can be used to compact material (e.g., newly laid material), such as compactable asphalt, soil, gravel, and / or other materials. The construction vehicles can include one or more rotatable drums that roll over the material and thus compact the material. The construction vehicles can be operated by an operator (e.g., within an operator’s cabin of the construction vehicle) or autonomously operated (e.g., without an operator within the operator’s cabin). Thus, the construction vehicles can transition between a manned operation mode and an autonomous operation mode. However, transitioning between the manned operation mode and the autonomous operation mode can present some problems.

[0003] For example, the transitioning between the manned operation mode and the autonomous operation mode can not be properly coordinated. For example, the construction machine can transition to the autonomous operation mode while the operator is operating the construction vehicle from the operator’s cabin. Thus, such a transition can create a conflict with respect to the construction vehicle operating in the manned operation mode or the autonomous operation mode. Such a conflict can have an undesirable impact on the operation of the construction vehicle and create an unexpected impact (e.g., an operation of the construction vehicle that was not intended by the operator of the construction vehicle) on the operation of the construction vehicle.

[0004] A system and method for enabling possible autonomous operation and / or external control of a motor vehicle is disclosed in International Publication No. WO2015076735 Al to Scania (“the ‘735 publication”). The ‘735 publication discloses a method for enabling possible autonomous operation and / or external control of a motor vehicle that is safe for the motor vehicle and for objects and persons in its surroundings. The ‘735 publication also discloses a method for enabling possible autonomous operation and / or external control of a motor vehicle, wherein the method restricts access to functions inside the vehicle for an external user.

[0005] While the ‘735 publication discloses a method for enabling possible autonomous operation and / or external control of a motor vehicle, the ‘735 publication does not disclose transitioning between a manned operation mode and an autonomous operation mode while preventing an undesirable impact and an unexpected impact on the operation of the construction vehicle.

[0006] The present disclosure addresses one or more of the above problems and / or other problems in the art. SUMMARY

[0007] In some embodiments, a method performed by a controller of a machine, the method comprising: configuring the machine to operate in a plurality of modes, the plurality of modes including a human-controlled mode, a remote-controlled mode, and an autonomous-controlled mode; assigning a first priority to the human-controlled mode, assigning a second priority to the remote-controlled mode, and assigning a third priority to the autonomous-controlled mode, wherein the first priority is a higher priority than the second priority and the third priority; receiving a request for the machine to perform an action; determining a current operating mode of the machine based on receiving the request, wherein the current operating mode is one of the plurality of modes; determining a requested operating mode of the machine associated with the request, wherein the requested operating mode is one of the plurality of modes; and selectively rejecting the request or enabling the machine to perform the action based on a priority assigned to the current operating mode and a priority assigned to the requested operating mode, wherein the request is rejected when the priority assigned to the current operating mode is a higher priority than the priority assigned to the requested operating mode, and wherein the machine is enabled to perform the action when the priority assigned to the requested operating mode is a higher priority than the priority assigned to the current operating mode.

[0008] In some embodiments, a controller of a machine, the controller comprising: one or more memories; and one or more processors configured to: configure the machine to operate in a plurality of modes, the plurality of modes including a human-controlled mode, a remote-controlled mode, and an autonomous-controlled mode; receive a request for the machine to perform an action; determine a requested operating mode of the machine associated with the request, wherein the requested operating mode is one of the plurality of modes; and selectively reject the request or enable the machine to perform the action based on a priority assigned to a current operating mode of the machine and a priority assigned to the requested operating mode, wherein the request is rejected when the priority assigned to the current operating mode is a higher priority than the priority assigned to the requested operating mode, and wherein the machine is enabled to perform the action when the priority assigned to the requested operating mode is a higher priority than the priority assigned to the current operating mode.

[0009] In some implementations, a machine includes a first controller associated with an autonomous control mode; a second controller associated with a remote control mode; a third controller configured to: receive a request for the machine to perform an action; determine a current operating mode of the machine and a requested operating mode of the machine associated with the request, wherein the current operating mode is one of a manned control mode, the remote control mode, or the autonomous control mode, and the requested operating mode is another one of the manned control mode, the remote control mode, or the autonomous control mode; and selectively reject the request or enable the machine to perform the action based on a priority assigned to the current operating mode of the machine and a priority assigned to the requested operating mode, wherein the request is rejected when the priority assigned to the current operating mode is a higher priority than the priority assigned to the requested operating mode, and wherein the machine is enabled to perform the action when the priority assigned to the requested operating mode is a higher priority than the priority assigned to the current operating mode. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is a diagram of an example machine described herein.

[0011] Figure 2 is a diagram of an example system described herein that can be implemented in conjunction with Figure 1 a machine.

[0012] Figure 3 is a flowchart of an example process involving transitioning between a manned control mode and an unmanned control mode. DETAILED DESCRIPTION

[0013] The present disclosure relates to processes related to transitioning between a manned control mode, a remote control mode, an autonomous control mode based on priorities assigned to the manned control mode, the remote control mode, the autonomous control mode. The processes for transitioning between a manned control mode and an unmanned control mode are applicable to machines configured for the manned control mode and the unmanned control mode. The term “machine” can refer to any machine that performs operations associated with an industry such as, for example, a mining, construction, agriculture, transportation, or another type of industry. Also, one or more implements can be connected to the machine.

[0014] Figure 1 is a diagram of an example machine 100 described herein. As Figure 1 shown in FIG. 1, the machine 100 is embodied as a compactor machine, such as a soil compactor. Alternatively, the machine 100 can be a bulldozer, an excavator, a mining truck, or the like.

[0015] As Figure 1As shown, machine 100 includes a machine frame 105 and a cylindrical roller 110. The cylindrical roller 110 can be rotatably attached to the machine frame 105. Machine 100 also includes a set of ground engagement members 115, such as wheels (e.g., Figure 1 As shown in the image), tracks, rollers, etc., are used to propel machine 100. Figure 1 As shown, machine 100 also includes implements, such as a plowshare 120. The plowshare 120 is pivotally attached to machine frame 105. Machine 100 also includes a hydraulic cylinder 125 mounted to the plowshare 120 to raise and lower the plowshare 120. Figure 1 As shown, hydraulic cylinder 125 is mounted to plate cylinder mount 130, which is mounted to machine frame 105.

[0016] like Figure 1 As shown, machine 100 also includes an operator's compartment 135. The operator's compartment 135 may include operator's compartment controls 140. The operator's compartment controls 140 may include one or more devices for controlling and / or monitoring the operation of machine 100. Figure 1 (Not shown in the image). Machine 100 also includes a controller 145, such as an electronic control module (ECM). Controller 145 may include one or more memories and one or more processors, and can enable machine 100 to switch between manned control mode, remote control mode and autonomous control mode.

[0017] The manned control mode corresponds to an operating mode in which machine 100 is operated by an operator inside the control room 135. The remote control mode corresponds to an operating mode in which machine 100 is operated by an operator from a remote location. The autonomous control mode corresponds to an operating mode in which machine 100 operates autonomously (e.g., without an operator). Figure 2 The control room controls 140 and controller 145 are discussed in more detail.

[0018] Although machine 100 is shown with an operator's room 135, this disclosure is applicable to machines that do not have an operator's room. In such cases, a manned control mode can be eliminated, and the machine can switch between a remote control mode and an autonomous control mode.

[0019] As mentioned above, providing Figure 1 As an example. Other examples may be combined with... Figure 1 The descriptions are different.

[0020] Figure 2 It can be combined Figure 1 A diagram of the exemplary system described herein implemented by a machine. (See diagram for example.) Figure 2 As shown, Figure 2The system 200 includes the operator cab controls 140, the controller 145, the autonomous system controller 250, and the remote control system controller 270. As explained above, the operator cab controls 140 can include one or more devices for controlling and / or monitoring operation of the machine 100. For example, the operator cab controls 140 can include sensor devices 205, steering controls 210, implement controls 215, braking controls 220, propulsion controls 225, and manned / unmanned mode controls 230.

[0021] The sensor devices 205 can include devices that detect the presence of an operator inside the operator cab 135 and transmit (e.g., to the controller 145) sensor data indicating whether an operator is present in the operator cab 135. For example, the sensor devices 205 can include seat sensor devices that detect whether an operator is seated in a seat of the operator cab 135. The steering controls 210 can include one or more buttons, joysticks, levers, etc. for maneuvering the machine 100 in one or more directions. The implement controls 215 can include one or more buttons, joysticks, levers, etc. for controlling an implement (e.g., the moldboard 120) of the machine 100.

[0022] The braking controls 220 can include one or more buttons, levers, brakes (e.g., a parking brake), etc. for reducing the speed of movement of the machine 100 and / or causing the machine 100 to brake. The propulsion controls 225 can include one or more buttons, joysticks, levers, etc. for propelling the machine 100 (e.g., via the ground engaging members 115). The manned / unmanned mode controls 230 can include buttons, switches, etc. for indicating whether to enable the machine 100 to transition from a manned control mode to an unmanned control mode (e.g., an autonomous control mode or a remote control mode). The operator cab controls 140 can transmit (e.g., to the controller 145) requests for the machine 100 to perform actions associated with the manned control mode. In some cases, the operator cab controls 140 can include a controller (e.g., similar to the controller 145) that can transmit (e.g., to the controller 145) requests for the machine 100 to perform actions associated with the manned control mode.

[0023] The controller 145 can include one or more processors 235 (individually referred to herein as “a processor 235,” and collectively as “the processors 235”) and one or more memories 240 (individually referred to herein as “a memory 240,” and collectively as “the memories 240”). The processors 235 are implemented in hardware, firmware, and / or a combination of hardware and software. The processors 235 are central processing units (CPUs), graphics processing units (GPUs), accelerated processing units (APUs), microprocessors, microcontrollers, digital signal processors (DSPs), field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), or another type of processing component. The processors 235 can include one or more processors capable of being programmed to perform a function.

[0024] The memories 240 include random access memories (RAM), read only memories (ROM), and / or another type of dynamic or static storage device (e.g., flash, magnetic and / or optical memory) that stores information and / or instructions for use by the processors 235 in executing functions. For example, the controller 145 (e.g., using the processors 235 and the memories 240) can enable the machine 100 to transition between the human-controlled mode, the remote-controlled mode, and the autonomous-controlled mode based on input from the operating room controls 140, the autonomous system controller 250, and / or the remote control system controller 270.

[0025] The autonomous system controller 250 can include one or more processors 255 (individually referred to herein as “a processor 255,” and collectively as “the processors 255”) and one or more memories 260 (individually referred to herein as “a memory 260,” and collectively as “the memories 260”). The processors 255 can be similar to the processors 235, and the memories 260 can be similar to the memories 240. The autonomous system controller 250 can be part of an autonomous system of the machine 100. The autonomous system can include one or more devices that enable the machine 100 to operate in the autonomous-controlled mode. The autonomous system controller 250 can transmit (e.g., to the controller 145) a request for the machine 100 to perform an action associated with the autonomous-controlled mode.

[0026] The remote control system controller 270 may include one or more processors 275 (hereinafter referred to individually as "processor 275" and collectively as "processor 275") and one or more memories 280 (hereinafter referred to individually as "memory 280" and collectively as "memory 280"). Processor 275 may be similar to processor 235, and memory 280 may be similar to memory 240. The remote control system controller 270 may be part of a remote control system for machine 100. The remote control system may include one or more means to enable machine 100 to operate in a remote control mode. The remote control system controller 270 may (e.g., to controller 145) transmit requests to cause machine 100 to perform actions associated with the remote control mode.

[0027] Figure 2 The number and arrangement of the devices and networks shown are provided as examples. In practice, there may be more... Figure 2 The diagram shows more devices, fewer devices, different devices, or devices arranged differently. Furthermore, Figure 2 The two or more components shown can be implemented in a single device, or Figure 3 The single device shown may be implemented as multiple distributed devices. Alternatively, a group of devices (e.g., one or more devices) of system 200 may perform one or more functions described as being performed by another group of devices of system 200.

[0028] Figure 3 This is a flowchart of an exemplary process 300 involving the switching between a manned control mode and an unmanned control mode. In some implementations, Figure 3 One or more process frames can be executed by a controller (e.g., controller 145). In some implementations, Figure 3 One or more process frames may be executed by another device or group of devices that are independent of or include the controller, such as operator room controls (e.g., operator room controls 140), autonomous system controllers (e.g., autonomous system controllers 250), remote control system controllers (e.g., remote control system controllers 270), etc.

[0029] like Figure 3 As shown, process 300 may include configuring the machine to operate in multiple modes, including a manned control mode, a remote control mode, and an autonomous control mode (block 310). For example, as described above, a controller may configure the machine (e.g., machine 100) to operate in multiple modes, including a manned control mode, a remote control mode, and an autonomous control mode. For example, the controller may configure software and / or one or more components (of the machine) to enable the machine to operate in a manned control mode, a remote control mode, and / or an autonomous control mode.

[0030] As Figure 3 As further shown in FIG. 3, process 300 can include assigning a first priority to the manned control mode, assigning a second priority to the remote control mode, and assigning a third priority to the autonomous control mode, where the first priority is a higher priority than the second priority and the third priority (block 320). For example, as described above, the controller can assign a first priority to the manned control mode, a second priority to the remote control mode, and a third priority to the autonomous control mode. In some instances, the first priority is a higher priority than the second priority and the third priority. Thus, the manned control mode can take precedence over the remote control mode and the autonomous control mode. The controller can assign the second priority and the third priority based on different factors (e.g., a type of task being performed by the machine, environmental conditions associated with the machine, an ability to communicate with the autonomous system controller or the remote control system controller, etc.). The controller can assign the second priority and the third priority based on one or more of the factors. The factors are provided by way of example only. Other instances can differ from what is described with respect to the factors.

[0031] For example, the controller can assign the second priority to the remote control mode and the third priority to the autonomous control mode based on a type of task being performed by the machine. For example, if the type of task is a first type corresponding to a task that requires human intervention, the second priority assigned to the remote control mode can be higher than the third priority of the autonomous control mode. The type of task that requires human intervention can include a digging task, a bulldozer task, a road construction task, etc. The type of task is provided by way of example only. Other instances can differ from what is described with respect to the type of task. If the type of task is a second type corresponding to a task that does not require human intervention or is more efficiently performed without human intervention, the third priority assigned to the autonomous control mode can be higher than the second priority assigned to the remote control mode.

[0032] In some instances, the request can include information identifying a type of task being performed. Thus, the controller can determine the type of task based on the information included in the request. In some instances, the information identifying the type of task being performed can be stored in a memory of the machine (e.g., prior to the machine performing the task). Thus, the controller can determine the type of task based on the information stored in the memory of the machine (identifying the type of task being performed).

[0033] The controller can assign the second priority to the remote control mode and the third priority to the autonomous control mode based on environmental conditions associated with the machine. The environmental conditions can include weather (e.g., sunny, rainy, snowing, sleet, etc.), terrain (e.g., gravel, rock, grass, ice, snow, sidewalk, mud, flat ground, uphill, downhill, etc.), air quality (e.g., smoke, carbon monoxide, smog, etc.). The environmental conditions are provided as examples only. Other examples can differ from what is described with respect to the environmental conditions. For example, the controller can determine an environmental condition (or combination of environmental conditions) and assign the second priority and the third priority based on the environmental condition (or combination of environmental conditions).

[0034] The controller can determine the environmental condition (or combination of environmental conditions) using one or more sensor devices, such as electromagnetic spectrum sensors (e.g., visible spectrum, infrared or near-infrared cameras, radar systems, etc.), biological sensors, temperature sensors, chemical sensors, etc. For example, if the environmental condition reduces visibility around the machine, the third priority assigned to the autonomous control mode can be higher than the second priority assigned to the remote control mode (e.g., because the line of sight of the remote operator can be reduced due to the reduced visibility and / or because the machine can include one or more devices that facilitate object detection when visibility is reduced). If the environmental condition adversely affects road conditions, the third priority assigned to the autonomous control mode can be higher than the second priority assigned to the remote control mode (e.g., because the machine can include one or more devices that facilitate road condition detection and dynamically adjust operation of the machine to favor navigation of undesirable road conditions).

[0035] The controller can assign the second priority to the remote control mode and the third priority to the autonomous control mode based on an ability to communicate with the unmanned mode controller (e.g., the autonomous system controller and the remote control system controller) after receiving the request from the unmanned mode controller. For example, the controller can determine the ability to communicate and assign the second priority and the third priority based on the ability to communicate. For example, if the controller detects an inability to communicate with the unmanned mode controller after receiving the request, the controller can assign (to the unmanned mode controller) a lowest priority among the first priority, the second priority, and the third priority.

[0036] The controller can detect an inability to communicate with the unmanned controller if the controller does not receive any data from the unmanned controller within a threshold amount of time from receiving the request from the unmanned controller or within a threshold amount of time from transmitting the request to the unmanned controller. In some cases, the inability to communicate can be due to a reduction in signal strength associated with the communication.

[0037] As Figure 3As also shown in FIG. 3, process 300 can include receiving a request for the machine to perform an action (block 330). For example, the controller can receive a request for the machine to perform an action associated with the manned control mode. The controller can receive the request from the operator room controls, the autonomous system controller, or the remote control system controller. For example, the controller can receive a steering command from the steering controls 210, an implement command from the implement controls 215, a brake command from the brake controls 220, a propulsion command from the propulsion controls 225, and / or similar commands associated with the operator room controls. Alternatively, the controller can receive a request from the autonomous system controller for the machine to perform an action associated with the autonomous control mode. Alternatively, the controller can receive a request from the remote control system controller for the machine to perform an action associated with the remote control mode. For example, the request can be based on input from a remote station of an operator that is remote from the machine.

[0038] As Figure 3 As also shown in FIG. 3, process 300 can include determining a current operating mode of the machine based on receiving the request, where the current operating mode is one of a plurality of modes (block 340). For example, as described above, the controller can determine the current operating mode of the machine after receiving the request. In some embodiments, the current operating mode is one of a plurality of modes. For example, the controller can detect input from the operator room of the machine (e.g., from the operator room controls 140) and determine that the current operating mode is the manned control mode based on detecting the input from the operator room of the machine. For example, the controller can receive sensor data (e.g., from the sensor arrangement 205) indicating the presence of an operator in the operator room, detect a steering command from the steering controls 210, detect an implement command from the implement controls 215, detect a brake command from the brake controls 220, and / or detect a propulsion command from the propulsion controls 225.

[0039] Alternatively, the controller can detect that the autonomous system controller is actively causing the machine to perform a task and determine that the current operating mode is the autonomous control mode based on detecting that the autonomous system controller is actively causing the machine to actively perform the task. Alternatively, the controller can detect that the remote control system controller is actively causing the machine to perform a task and determine that the current operating mode is the remote control mode based on detecting that the remote control system controller is actively causing the machine to perform the task (e.g., based on one or more signals received from a device of an operator located remotely from the machine).

[0040] In some cases, the current operating mode can correspond to a last operating mode of the machine. For example, the last operating mode can be an operating mode determined by the controller within a threshold amount of time of receiving the request (e.g., prior to receiving the request). In some cases, an operator can set the current operating mode (e.g., using the manned / unmanned mode control 230) and can cause the controller to store information indicative of the current operating mode (e.g., in the memory 240). Accordingly, the controller can determine the current operating mode based on the information stored (e.g., in the memory 240).

[0041] As Figure 3 As further shown in

[0042] Alternatively, the controller can receive the request from the autonomous system controller and determine that the current operating mode is the autonomous control mode based on receiving the request from the autonomous system controller. Alternatively, the controller can receive the request from the remote control system controller and determine that the current operating mode is the remote control mode based on receiving the request from the remote control system controller.

[0043] As Figure 3 As further shown in

[0044] For example, if the requested mode of operation is the manned control mode, the controller can enable the machine to perform the action because the first priority assigned to the manned control mode is higher than the second priority assigned to the remote control mode and the third priority assigned to the autonomous control mode. The request can be denied if the current mode of operation is the manned control mode because the first priority assigned to the manned control mode is higher than the second priority assigned to the remote control mode and the third priority assigned to the autonomous control mode. In some implementations, if the current mode of operation is the manned control mode, the controller can determine whether input has been detected from the operations room (e.g., input from the operations room controls 140) within a threshold amount of time after receiving the request.

[0045] If the controller determines that input from the operations room (e.g., input from the operations room controls 140) has not been detected within the threshold amount of time after receiving the request, the controller can determine that the machine can transition from the manned mode to the remote control mode or the autonomous control mode. The controller can determine whether one or more conditions are satisfied before enabling the machine to transition from the manned mode to the remote control mode or the autonomous control mode. If the one or more conditions are not satisfied, the controller can deny the request, and if the one or more conditions are satisfied, the controller can enable the machine to perform the action. For example, the controller can determine whether the remote control mode of the machine (if the request is received from the remote control system controller) has been disabled or whether the autonomous control mode of the machine (if the request is received from the autonomous system controller) has been disabled (e.g., disabled after the controller performs a configuration, as discussed in connection with block 310).

[0046] If the controller determines that software and / or one or more components that enable the remote control mode or the autonomous control mode have been uninstalled from the machine, have been reconfigured for the machine, are experiencing a fault, etc., the controller can determine that the remote control mode or the autonomous control mode has been disabled. If the controller determines that software and / or one or more components of the machine prevent the machine from operating in the remote control mode or the autonomous control mode, the controller can determine that the remote control mode or the autonomous control mode has been disabled. If the controller determines that the manned / unmanned mode control 230 indicates that the machine cannot be transitioned to the unmanned control mode, the controller can determine that the remote control mode or the autonomous control mode has been disabled. The controller can determine that the one or more conditions are not satisfied based on determining that the remote control mode or the autonomous control mode cannot be implemented for the machine.

[0047] The controller can determine whether the one or more conditions are satisfied based on determining whether an engine of the machine is running, whether an implement of the machine is in a locked position (e.g., a position that prevents movement of the implement), and / or whether a parking brake of the machine is engaged. The controller can determine that the one or more conditions are satisfied based on detecting that the engine of the machine is running, detecting that the implement of the machine is in the locked position, and / or detecting that the parking brake of the machine is engaged.

[0048] If the requested operating mode is the autonomous control mode, the controller can determine whether the one or more conditions are satisfied based on determining whether the remote control system controller is simultaneously transmitting one or more requests to cause the machine to perform one or more actions (e.g., steering, braking, and / or propelling). The controller can assign a priority to the one or more requests (associated with the remote control mode) that is higher than a priority assigned to another request (e.g., a request associated with the autonomous control mode). Thus, when the controller determines that the remote control system controller is not transmitting the one or more requests, the controller can determine that the one or more conditions are satisfied. Alternatively, when the controller determines that the remote control system controller is transmitting the one or more requests, the controller can determine that the one or more conditions are not satisfied.

[0049] In some instances, by assigning priorities to the manned control mode, the remote control mode, and the autonomous control mode, the process can reduce or eliminate potential conflicts associated with simultaneous requests received from the operator room controls (associated with the manned control mode), the remote control system controller (associated with the remote control mode), and / or the autonomous system controller (associated with the autonomous control mode). For example, the controller can enable the machine to perform an action associated with a request that is assigned a highest priority among priorities assigned to several requests, and can reject other requests.

[0050] In some instances, the controller may receive a first request from an autonomous system controller and a second request from a remote control system controller. If the current operating mode is manned mode, and the controller enables the machine to switch from manned mode (as discussed above), the controller may assign a priority to the first request and a priority to the second request in a manner similar to that described in conjunction box 320 above. The controller may enable the machine to perform the action associated with the first request, and reject the second request if the priority assigned to the first request is higher than the priority assigned to the second request. Alternatively, the controller may enable the machine to perform the action associated with the second request, and reject the first request if the priority assigned to the second request is higher than the priority assigned to the first request. Alternatively, the controller may enable the machine to perform the action associated with the first request during a first time period and to perform the action associated with the second request during a second time period. Alternatively, if the controller determines that the action associated with the second request can be combined with the action associated with the first request to perform the action associated with the first request without conflict, the controller may enable the machine to combine the action associated with the second request with the action associated with the first request. For example, when the machine is engaged in an autonomous task, the controller may enable a remote operator to adjust the machine's orientation.

[0051] In some instances, after enabling the machine to perform an action, the controller may determine whether the action has been performed within a threshold amount of time since the request was received; and based on the determination that the action has not been performed within the threshold amount of time, keep the machine in the current operating mode.

[0052] In some instances, the controller may determine that the requested operating mode is a remote control mode and that the current operating mode is an autonomous control mode. When selectively denying a request or enabling the machine to perform an action, the controller may do so based on the priority assigned to the current operating mode and the priority assigned to the requested operating mode. If the priority assigned to the current operating mode is higher than the priority assigned to the requested operating mode, the controller may deny the request. Alternatively, if the priority assigned to the requested operating mode is higher than the priority assigned to the current operating mode, the controller may enable the machine to perform an action. In some cases, the controller may periodically evaluate and reassign priorities (e.g., per request, per shift, hourly, daily, etc.).

[0053] In some instances, the controller can determine whether the action associated with the request is authorized. For example, the controller can store (e.g., in memory 240) a first list of authorized actions for the human-controlled mode, a second list of authorized actions for the autonomous-controlled mode, and a third list of authorized actions for the remote-controlled mode. The controller can compare the action associated with the request to the corresponding list of the first, second, and third lists and determine whether the action is authorized based on the comparison. When selectively rejecting requests or enabling the machine to perform actions, the controller can reject the request if the action is not authorized and enable the machine to perform the action if the action is authorized.

[0054] In some cases, the human-controlled mode, the remote-controlled mode, and the autonomous-controlled mode can be assigned different priorities than discussed above. For example, a first priority can be assigned to the remote-controlled mode, a second priority can be assigned to the autonomous-controlled mode, and a third priority can be assigned to the human-controlled mode. Alternatively, a first priority can be assigned to the autonomous-controlled mode, a second priority can be assigned to the remote-controlled mode, and a third priority can be assigned to the human-controlled mode, etc.

[0055] In some cases, the remote-controlled mode and the autonomous-controlled mode can be used when the operator is in the cab. In some instances, the operator can cause the machine to transition from the remote-controlled mode or the autonomous-controlled mode to the human-controlled mode to enable the operator to perform a commissioning, debugging, or maintenance task. Additionally or alternatively, the operator can cause the machine to transition from the remote-controlled mode or the autonomous-controlled mode to the human-controlled mode to enable the operator to complete a particular task when the operator is in the cab. Additionally or alternatively, the operator can cause the machine to transition from the remote-controlled mode or the autonomous-controlled mode to the human-controlled mode when the controller detects input from the operator in the cab (e.g., emergency braking, steering, etc.).

[0056] Although Figure 3 The example blocks of process 300 are shown, but in some implementations, process 300 can include more blocks than those depicted in FIG. 3, fewer blocks, different blocks, or differently arranged blocks. Additionally or alternatively, two or more of the blocks of process 300 can be performed in parallel. Industrial applicability The example blocks of process 300 are shown, but in some implementations, process 300 can include more blocks than those depicted in FIG. 3, fewer blocks, different blocks, or differently arranged blocks. Additionally or alternatively, two or more of the blocks of process 300 can be performed in parallel.

[0057] ​

[0058] The present disclosure relates to processes for transitioning between a manned control mode and an unmanned mode (e.g., a remote control mode or an autonomous control mode) based on priorities assigned to the manned control mode, the remote control mode, and the autonomous control mode. For example, a controller (e.g., controller 145) can assign a first priority to the manned control mode, a second priority to the remote control mode, and a third priority to the autonomous control mode.

[0059] Several advantages can be associated with the disclosed processes for transitioning between a manned control mode and an unmanned mode. For example, by assigning priorities to the manned control mode, the remote control mode, and the autonomous control mode, the processes can appropriately coordinate transitions between the manned control mode, the remote control mode, and the autonomous control mode, and thus can improve such transitions. By appropriately coordinating transitions between the manned control mode, the remote control mode, and the autonomous control mode, the processes can reduce or eliminate potential conflicts associated with simultaneous requests received from an operations room control (associated with the manned control mode), a remote control system controller (associated with the remote control mode), and / or an autonomous system controller (associated with the autonomous control mode). Additionally, the processes can reduce or eliminate undesirable and unexpected impacts on operation of the machine.

[0060] As used herein, the articles “a” and “an” and “the” are intended to include one or more items, and can be used interchangeably with “the one or more.” Furthermore, as used herein, the article “the” is intended to include one or more items referenced by the article “the” unless otherwise clearly indicated by context. Moreover, the phrase “based on” is intended to mean “based, at least in part, on” unless otherwise indicated.

Claims

1. A method performed by a controller of a machine, the method comprising: configuring the machine to operate in a plurality of modes, the plurality of modes including a manned control mode, a remote control mode, and an autonomous control mode; assigning a first priority to the manned control mode, a second priority to the remote control mode, and a third priority to the autonomous control mode, wherein the first priority is a higher priority than the second priority and the third priority; receiving a request for the machine to perform an action; determining a current operating mode of the machine based on receiving the request, wherein the current operating mode is one of the plurality of modes; determining a requested operating mode of the machine associated with the request, wherein the requested operating mode is one of the plurality of modes; and based on the priority assigned to the current operating mode and the priority assigned to the requested operating mode, selectively rejecting the request or enabling the machine to perform the action, wherein the request is rejected when the priority assigned to the current operating mode is a higher priority than the priority assigned to the requested operating mode, and wherein the machine is enabled to perform the action when the priority assigned to the requested operating mode is a higher priority than the priority assigned to the current operating mode; wherein the priority of the second priority and the third priority is dynamically adjusted based on a type of task performed by the machine, an environmental condition associated with the machine, and / or an ability to communicate with an unmanned mode controller, wherein the second priority is higher than the third priority if the type of task corresponds to a first type of task that requires human intervention, and the third priority is higher than the second priority if the type of task corresponds to a second type of task that does not require human intervention or is more efficiently performed without human intervention, wherein the third priority is higher than the second priority if the environmental condition reduces visibility around the machine or the environmental condition adversely affects road conditions, wherein the third priority is higher than the second priority if the controller detects an inability to communicate with the unmanned mode controller after receiving the request.

2. The method of claim 1, wherein determining the current operating mode of the machine comprises: detecting an input from an operator cabin of the machine; and determining the current operating mode of the machine is the manned control mode based on detecting the input from the operator cabin of the machine, wherein determining the requested operating mode of the machine associated with the request comprises determining the requested mode is one of the remote control mode or the autonomous control mode, and wherein selectively rejecting the request or enabling the machine to perform the action comprises rejecting the request based on determining the current operating mode of the machine is the manned control mode and determining the requested mode is one of the remote control mode or the autonomous control mode. ​ ​ 3. The method of any one of claims 1 and 2, wherein detecting an input from an operator compartment of the machine comprises: receiving sensor data indicative of a presence of an operator in the operator compartment.

4. The method of any one of claims 1 and 2, wherein determining a requested mode of operation of the machine associated with the request comprises determining that the requested mode is one of the remote control mode or the autonomous control mode, wherein the method further comprises determining whether one or more conditions associated with the one of the remote control mode or the autonomous control mode are satisfied, wherein selectively rejecting the request or enabling the machine to perform the action comprises selectively rejecting the request or enabling the machine to perform the action based further on: determining that the requested mode is one of the remote control mode or the autonomous control mode, and determining whether the one or more conditions are satisfied.

5. The method of any one of claims 1 and 2, further comprising: determining that one of the remote control mode or the autonomous control mode is not achievable for the machine; and based on determining that one of the remote control mode or the autonomous control mode is not achievable for the machine, determining that the one or more conditions are not satisfied, wherein selectively rejecting the request or enabling the machine to perform the action comprises rejecting the request based on: determining that the requested mode is one of the remote control mode or the autonomous control mode, and determining that the one or more conditions are not satisfied.

6. A controller of a machine, the controller comprising: one or more memories; and one or more processors configured to: configure the machine to operate in a plurality of modes, the plurality of modes comprising a manned control mode, a remote control mode, and an autonomous control mode; receive a request to perform an action by the machine; determine a requested mode of operation of the machine associated with the request, wherein the requested mode of operation is one of the plurality of modes; and based on a priority assigned to a current mode of operation of the machine and a priority assigned to the requested mode of operation, selectively reject the request or enable the machine to perform the action, wherein the request is rejected when the priority assigned to the current mode of operation is a higher priority than the priority assigned to the requested mode of operation, and wherein the machine is enabled to perform the action when the priority assigned to the requested mode of operation is a higher priority than the priority assigned to the current mode of operation; wherein the priority assigned to the remote control mode and the priority assigned to the autonomous control mode are dynamically adjusted based on a type of task performed by the machine, environmental conditions associated with the machine, and / or an ability to communicate with a remote mode controller, ​ ​ wherein the priority assigned to the remote control mode is higher than the priority assigned to the autonomous control mode if the type of task corresponds to a first type of task that requires human intervention, and the priority assigned to the autonomous control mode is higher than the priority assigned to the remote control mode if the type of task corresponds to a second type of task that does not require human intervention or is more efficiently performed without human intervention, wherein the priority assigned to the autonomous control mode is higher than the priority assigned to the remote control mode if the environmental condition reduces visibility around the machine or the environmental condition adversely affects road conditions, wherein the priority assigned to the autonomous control mode is higher than the priority assigned to the remote control mode if the controller detects an inability to communicate with the unmanned mode controller after receiving the request.

7. The controller of claim 6, wherein in determining the requested mode of operation, the one or more processors are configured to: detect an input from an operator cabin of the machine, and determine that the requested mode of operation of the machine is the manned control mode based on detecting the input from the operator cabin of the machine, and wherein in selectively denying the request or enabling the machine to perform the action, the one or more processors are configured to: determine that the priority assigned to the manned control mode is a higher priority than the priority assigned to the remote control mode and the priority assigned to the autonomous control mode, and enable the machine to perform the action based on determining that the priority assigned to the manned control mode is a higher priority than the priority assigned to the remote control mode and the priority assigned to the autonomous control mode.

8. The controller of any one of claims 6 and 7, wherein the one or more processors are further configured to: assign a first priority to the manned control mode, a second priority to the remote control mode, and a third priority to the autonomous control mode, wherein the first priority is a higher priority than the second priority and the third priority.

9. The controller of any one of claims 6 and 7, wherein in determining the requested mode of operation, the one or more processors are configured to determine that the requested mode of operation is the autonomous control mode, wherein in selectively denying the request or enabling the machine to perform the action, the one or more processors are configured to: determine that one or more conditions associated with the autonomous control mode are satisfied, and enable the machine to perform the action based on determining that the one or more conditions associated with the autonomous control mode are satisfied.

10. The controller of any one of claims 6 and 7, wherein in determining the requested mode of operation, the one or more processors are configured to determine that the requested mode of operation is the remote control mode, wherein the one or more processors are further configured to determine that the current mode of operation is the autonomous control mode, wherein in selectively denying the request or enabling the machine to perform the action, the one or more processors are configured to: determine that the priority assigned to the remote control mode is a higher priority than the priority assigned to the autonomous control mode, and enable the machine to perform the action based on determining that the priority assigned to the remote control mode is a higher priority than the priority assigned to the autonomous control mode. wherein when selectively rejecting the request or enabling the machine to perform the action, the one or more processors are configured to: determine an environmental condition associated with the machine, determine, based on the environmental condition, that a priority assigned to the current operating mode is a higher priority than a priority assigned to the requested operating mode, and reject the request based on determining, from the environmental condition, that the priority assigned to the current operating mode is the higher priority than the priority assigned to the requested operating mode.

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