Apparatus system and method for remotely controlling a vehicle over a network

A system and a method for controlling a vehicle remotely over a network are disclosed. A vehicle is provided with a vehicle control module configured to transmit and receive network communications containing vehicle control data. In one embodiment, the vehicle control module is configured to transmit and receive network switched packets wirelessly. Additionally, the vehicle may comprise one or more cameras configured to transmit a two dimensional, three dimensional, or 360° panoramic view from the vehicle. The network comprises a user station, a server, and at least one vehicle to be controlled. The user station may comprise an operator booth that resembles the driving compartment of a vehicle. Alternatively, the user station may comprise a portable control device.

BACKGROUND OF THE INVENTION

The Field of the Invention

Remotely controlling scaled vehicles has been a popular hobby for many years. Children and adults are fascinated by the opportunity to control vehicles that normally are not available for use, such as military vehicles or trains. Scale replicas of racecars, boats, submarines, dune buggies, monster trucks, and motorcycles are among the vehicles that are widely available for remote control enthusiasts.

Modelers and manufacturers of scaled vehicles put forth considerable time and effort to attain a scaled vehicle with a life-like appearance. For many, great pleasure is derived from controlling a realistically scaled vehicle. Many methods have been developed to control scaled vehicles. Control mechanisms exist that utilize a physical connection, such as a cable, between the vehicle and the controller. This simple control mechanism is relatively inexpensive and easy to implement but requires that the user follow the vehicle. To overcome these limitations, radio control, or R/C, mechanisms have been developed.

Radio controllers facilitate the control of a vehicle through radio transmissions. By breaking the physical link between the vehicle and controller, R/C enthusiasts are able to participate in organized group events such as racing or with friends in what is known as “backyard bashing.” Additionally, R/C controllers have allowed scaled vehicles to travel over and under water, and through the air, which for obvious reasons was not previously possible with a cabled control mechanism.

Racing scaled versions of NASCAR™, Formula 1™, and Indy™ series racecars has become very popular because, unlike other sports, the public generally does not have the opportunity to race these cars. Although scaled racecars give the hobbyist the feeling of racing, for example, a stock car, remotely racing a scaled racecar may lack realism. In order to make a racecar visually interesting to the point of view of the racer, the racecar is normally operated at speeds that if scaled are unrealistic. Additionally R/C is limited by the amount of channels or frequencies available for use. Currently, operators of racing tracks or airplane parks must track each user's frequency, and when the limited number of the available channels are being used, no new users are allowed to participate.

A solution to this problem has been to assign a binary address to each vehicle in a system. Command data is then attached to the binary address and transmitted to all vehicles in the system. In an analog R/C environment, commands to multiple vehicles must be placed in a queue and transmitted sequentially; this presents a slight lag between a user control and response by the vehicle. Each vehicle constantly monitors transmitted commands and waits for a command with the assigned binary address. Limitations to this system include the loss of fine control of vehicles due to transmit lag, and ultimately the number of vehicles is limited because the time lag could become too great.

Accordingly, it is apparent that a need exists for an improved system of controlling vehicles remotely that accords fine-tuned control capabilities and increased support for multiple vehicles.

BRIEF SUMMARY OF THE INVENTION

The network controlled vehicle of the present invention has been developed in response to the present state of the art, and in particular, in response to the problems and needs in the art that have not yet been fully solved by currently available remote controlled vehicles. Accordingly, the present invention provides a network controlled vehicle that overcomes many or all of the above-discussed shortcomings in the art.

In accordance with the invention as embodied and broadly described herein in the preferred embodiments, an improved remote control vehicle is provided and configured to move in a direction selectable remotely by a user. The vehicle comprises a chassis configured to move about in response to vehicle control data from a user; a controller residing within the chassis configured to receive network switched packets containing the vehicle control data; and an actuator interface module configured to operate an actuator in response to the vehicle control data received by the controller.

The controller is configured to transmit vehicle data feedback to a user. Additionally, the controller may comprise a wireless network interface connection configured to transmit and receive network switched packets containing vehicle control data. The controller may also be configured to transmit a two dimensional, three dimensional, or 360° three dimensional view to the user.

The present invention also comprises a station from which a vehicle is remotely controlled. The station may comprise a vehicle control module configured to generate vehicle control data in response to input from a user, and a transmission module configured to communicate with the vehicle control module and transmit network switched packets containing the vehicle control data over a transmission medium to the vehicle.

In one embodiment the station comprises an operator booth configured to resemble the driving compartment of a race car. In order to generate vehicle control data, a steering mechanism may be provided. Alternatively, a vehicle station control may comprise a steering mechanism, a gear shift mechanism, a brake pedal, a clutch pedal, and an acceleration pedal. The control stations may additionally include a clutch pedal and a gear shift paddle corresponding to the type of actual vehicle that the scaled vehicle is meant to resemble. The vehicle control station may be stationary or configured as a portable control device. In one embodiment the vehicle control station is configured to transmit and receive network switched packets in a peer-to-peer environment. The vehicle control station may be configured to transmit and receive network switched packets in an ad-hoc environment, or in an infrastructure environment.

A control apparatus for a vehicle controllable remotely over a network is also provided. The control apparatus comprises a network interface connection configured to transmit and receive vehicle control data, a central processing unit configured to provide vehicle control data to the network interface connection, and an actuator interface module configured to receive vehicle control data from the central processing unit. In one embodiment, the control apparatus comprises a video interface module configured to communicate visual data to the central processing unit. One or more video cameras may also be provided and configured to provide visual data to the video interface module. The video interface module is preferably configured to transmit a two dimensional, three dimensional, 360° three dimensional view. The video signal may be transmitted over the network or by other wireless protocols.

In order to facilitate flexibility of device control within the network, the control apparatus may be provided with a Simple Network Management Protocol (SNMP) interface module residing within the central processing unit configured to operate an actuator. Alternately, the apparatus may be employed using a web-based protocol, such as Java™.

The network to control the vehicle comprises at least one network interface connection and a server configured to communicate with a central processing unit of a mobile vehicle over the network. In one embodiment, the server is configured to communicate with a vehicle control station. The vehicle may transmit and receive vehicle control data through a wireless access point configured to communicate with a central processing unit of a mobile vehicle.

In order to monitor vehicle usage, a track marshal module may be provided and configured to adjust such properties as speed, acceleration, braking, and steering. The track marshal module may also be configured to override user controls.

The present invention also comprises a method of controlling a mobile vehicle over a digital data network, including but not limited to a LAN, WAN, satellite, and digital cable networks. The method comprises providing a mobile vehicle configured to transmit and receive vehicle control data over the network, providing a central server configured to transmit and receive vehicle control data, transmitting vehicle control data, controlling the mobile vehicle in response to the transmitted vehicle control data, and receiving vehicle feedback data from the vehicle. Transmitting vehicle control data may comprise transmitting network switched packets in a peer-to-peer environment or in an infrastructure environment.

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1shows a vehicle100that is controllable over a network. As depicted, the vehicle100comprises a video camera module102and a vehicle control module104. The vehicle100is in one embodiment replicated at one-quarter scale, but may be of other scales also, including one-tenth scale, one-fifth scale, and one-third scale. Additionally, the network controlled vehicle100may embody scaled versions of airplanes, monster trucks, motorcycles, boats, buggies, and the like. In one embodiment, the vehicle100is a standard quarter scale vehicle100with centrifugal clutches and gasoline engines, and all of the data for the controls and sensors are communicated across the local area network. Alternatively, the vehicle100may be electric or liquid propane or otherwise powered. Quarter scale racecars are available from New Era Models of Nashua, N.H. as well as from other vendors, such as Danny's ¼ Scale Cars of Glendale, Ariz.

The vehicle100is operated by remote control, and in one embodiment an operator need not be able to see the vehicle100to operate it. Rather, a video camera module102is provided with a one or more cameras106connected to the vehicle control module104for displaying the points of view of the vehicle100to an operator. The operator may control the vehicle100from a remote location at which the operator receives vehicle control data and optionally audio and streaming video. In one embodiment, the driver receives the vehicle control data over a local area network. Under a preferred embodiment of the present invention, the video camera module102is configured to communicate to the operator using the vehicle control module104. Alternatively, the video camera module102may be configured to transmit streaming visual data directly to an operator station.

FIG. 2adepicts a plan view210of a single camera106that may be mounted to the vehicle100as discussed in conjunction with FIG.1. The depicted camera106has a specific field of view220, delineated by the pair of angled solid lines, that is determined by the design and manufacture of the camera106. In one embodiment, the field of view220is fixed and, in an alternate embodiment, the field of view220of the camera106may be dynamically adjusted using either optical or digital processes. The field of view220captured by the illustrated camera106generally produces a two dimensional image.

FIG. 2billustrates a plan view230of a pair of cameras106that may be co-mounted to the vehicle100. As in the previous figure, each depicted camera106has a specific field of view220. Similarly, the field of view220of each camera106in the pair may be fixed or dynamically adjustable. According to the mounting configuration, including the relational orientation of the pair of cameras106, the fields of view220may wholly or partially overlap. The video camera module102may then process the combination of captured fields of view220and create a three dimensional image.

Referring now toFIG. 2c, shown therein is a further embodiment of the video camera module102. The video camera module102ofFIG. 2ccomprises a plurality of video cameras106. The cameras14may be mounted in a ring so as to provide a combined panoramic view created from the plurality of corresponding fields of view220. One advantage of the present invention is the ability to form a two dimensional, three dimensional, or 360° three dimensional image. The video camera module102is preferably configured to weave the overlapping fields of view220of each camera106. As discussed in conjunction withFIG. 2b, a three dimensional view is possible by processing two overlapping fields of view220. Each camera106may be oriented so as to allow overlap of the fields of view220of the two cameras106that are closest.

FIG. 3shows one embodiment of the vehicle control module104of FIG.1. The vehicle control module104preferably comprises a network interface module302, a central processing unit (CPU)304, a servo interface module306, a sensor interface module308, and the video camera module102. In one embodiment, the network interface module302is provided with a wireless transmitter and receiver305. The transmitter and receiver305may be custom designed or may be a standard, off-the-shelf component such as those found on laptops or electronic handheld devices. Indeed, a simplified computer similar to a Palm™ or Pocket PC™ may be provided with wireless networking capability, as is well known in the art and placed in the vehicle100for use as the vehicle control module104.

In one embodiment of the present invention, the CPU304is configured to communicate with the servo interface module306, the sensor interface module308, and the video camera module102through a data channel310. The various controls and sensors may be made to interface through any type of data channel310or communication ports, including PCMCIA ports. The CPU304may also be configured to select from a plurality of performance levels upon input from an administrator received over the network. Thus, an operator may use the same vehicle100and may progress from lower to higher performance levels. The affected vehicle performance may include steering sensitivity, acceleration, and top speed. This feature is especially efficacious in driver education and training applications. The CPU304may also provide a software failsafe with limitations to what an operator is allowed to do in controlling the vehicle100.

In one embodiment, the CPU304comprises a Simple Network Management Protocol (SNMP) server module312. SNMP provides an extensible solution with low computing overhead to managing multiple devices over a network. SNMP is well known to those skilled in the art. In an alternate embodiment not depicted, the CPU304may comprise a web-based protocol server module configured to implement a web-based protocol, such as Java™, for network data communications.

The SNMP server module312is preferably configured to communicate vehicle control data to the servo interface module306. The servo interface module306communicates the vehicle control data with the corresponding servo. For example, the network interface card302receives vehicle control data that indicates a new position for a throttle servo314. The network interface card302communicates the vehicle control data to the CPU304which passes the data to the SNMP server312. The SNMP server312receives the vehicle control data and routes the setting that is to be changed to the servo interface module306. The servo interface module306then communicates a command to the throttle servo314to accelerate or decelerate.

The SNMP server312is also preferably configured to control a plurality of servos through the servo interface module306. Examples of servos that may be utilized depending upon the type of vehicle are the throttle servo314, a steering servo316, a camera servo318, and a brake servo320. Additionally, the SNMP server312may be configured to retrieve data by communicating with the sensor interface module308. Examples of some desired sensors for a gas vehicle100are a head temperature sensor322, a tachometer324, an oil pressure sensor326, a speedometer328, and one or more accelerometers330. In addition, other appropriate sensors and actuators can be controlled in a similar manner. Actuators specific to an airplane, boat, submarine, or robot may be controlled in this manner. For instance, the arms of a robot may be controlled remotely over the network.

Referring now toFIG. 4, shown therein is one embodiment of a network400for communicating with a vehicle operating under remote control. The network400comprises a user station402, a data channel403, a server404, and a vehicle control module104operating within the vehicle100(not shown). Additionally, the network400may be configured to accommodate a plurality of vehicles100. Due to the network configuration, vehicles100operating together need not be run on different frequencies. The IEEE 802.11 protocol, for example, provides multiple hardware addresses for a plurality of devices, or vehicles100, on the network400. Each vehicle100is thus seen as a separate device on the network and is provided with a different address. Accordingly, an advantage of the invention is that as many vehicles as are desired may be operated independently.

The user station402comprises a user interface (UI) controller406, a CPU408, a UI SNMP module410, and a network interface connection412. In one embodiment of the present invention, the user station402comprises a driving booth configured to resemble a driving compartment of a race car. Alternatively, the user station402may comprise a portable control device configured with a steering wheel controller, such as the Thrustmaster™ controller used for video games. In an alternative embodiment, the user station402may be configured in a manner patterned after traditional remote control hand held controllers. The UI controller406is preferably configured to interface with controls such as a steering wheel, foot pedals, gear shift, etc.

In one embodiment of the present invention, the CPU408is configured to communicate with the UI controller406, the UI SNMP module410, and the network interface connection412. The input received from the user through the UI controller406is configured by the CPU408and the UI SNMP module410in order to be transmitted by the network interface412through the data channel403.

In one embodiment, the data channel403comprises a standard Ethernet network. The configuration of the network400is given herein by way of example and is not to be considered limiting, as one skilled in the art will be able to readily modify the configuration while maintaining the intended functionality of the network400.

The depicted server404comprises the network interface connection412, a CPU414, a track marshal module416, and a user control database418. The CPU414is configured to communicate with the user station402and the vehicle100through the network interface connection412. In one embodiment, the CPU comprises a track marshal module416configured to monitor user operating history. The track marshal module416may access a user history profile that is stored on the user control database418.

Initially, the performance level of a vehicle100may be limited by the track marshal module416in order to minimize accidents. As a user progresses in skill, the track marshal module416increases the performance level of the vehicle100until the maximum scaled performance level is achieved. Additionally, the track marshal module416updates the user history profile on the user control database418. The track marshal module416may also be configured to override a vehicle100if erratic driving is detected by the CPU414. A user may also interface with the system through the track marshal module416to perform one or more of the recited functions.

FIG. 5shows one embodiment of an implementation of the network400at a racing track502. The vehicle100may be driven in an area such as the racetrack502that is provided with at least one transmitter/receiver504distributed around the racetrack502for the wireless transmission and reception to and from the vehicle100. Indeed, in the embodiment ofFIG. 5, communications with the vehicle100are passed off between a plurality of transmitter/receivers504. Consequently, the racing track may be of a larger size than would be practical with the limited range of current R/C cars.

Such an implementation wherein a scaled vehicle100communicates with the transmitter/receiver(s)504in order to access the server404is known to those skilled in the art as an infrastructure implementation of a wireless network400. Alternatively, the network400may be implemented in a peer-to-peer mode wherein the vehicle100transmits and receives vehicle control data directly from the user station402.

In one embodiment, both video signals and control signals are transmitted over the wireless data channels403using the 802.11 protocol or other protocols such as the Bluetooth protocol. However, in alternative embodiments, the control signals may be transmitted with one protocol or transmission type and the audio and video signals with another. Alternatively, vehicle control data may be embedded on a monaural channel of a video signal (i.e., in between the upper and lower channels). This signal may then be transmitted as the control signals of the vehicle100. Control signals may also be transmitted from the vehicle100in addition to the audio and visual data transmitted by the video camera module102. Such signals may be used to generate a display, including in one embodiment a heads up display, for the user. Thus, gauges or other displays may show speed, fuel, oil pressure, temperature, etc.

Referring now toFIG. 6, shown therein is a method600of controlling a vehicle100over a network400. The method600starts602as the vehicle100is provided602. Under one embodiment of the present invention, the vehicle100is a gas powered vehicle100. Alternatively, the vehicle100may be powered by electricity or liquid propane fuel or another appropriate fuel source. Additionally, the vehicle100is provided604with the vehicle control module104and the video camera module102. The network400is then provided606. In one embodiment the network400is provided606with the user station402, the server404, and the vehicle100configured in the infrastructure manner discussed above. Alternatively, the network400is provided606with the vehicle100and a portable user station402configured in a peer-to-peer manner as discussed above.

Vehicle control data is then received from a user and transmitted608over the network400. The vehicle control data may be transmitted608wirelessly and in one embodiment through standard network data channels. The vehicle100receives the vehicle control data and the vehicle100is controlled610in accordance with the vehicle control data. Upon request, the vehicle100transmits feedback data, and the server404receives612the feedback data over the network400. The feedback data may comprise data from an accelerometer, an oil pressure sensor, a speedometer, and the like and may be displayed to a user. The method600ends614when the user finishes operating the vehicle.