Commanding autonomous vehicles using multi-link satellite networks

A multi-link satellite processor is described that provides command or control information to a vehicle via multi-link satellite downlink signals. Embodiments of the invention provide an Earth-based multi-link satellite processor that process information to generate the command information and to transmit the command information to commercial satellite or low-Earth orbit and satellites. The command information is provided to a vehicle via the multi-link satellite downlink signal in which one or more commercial satellites and at least one low-Earth orbiting satellite are used to generate the multi-link satellite downlink signal.

TECHNICAL FIELD

This disclosure relates to systems, methods and devices for using a plurality of disparate satellite network communications to command or enhance control of a plurality of autonomous or semi-autonomous vehicles and objects using database processing, artificial intelligence (AI) and predictive analytics. These systems, methods and devices enable the vehicles to make better decisions and operate with greater efficiency and safety.

BACKGROUND

Technology innovations over the last several years have finally enabled the development and deployment of everything from driverless cars to pilotless drones and other objects (so-called “autonomous” vehicles). These autonomous and semi-autonomous vehicles and objects exhibit various degrees of self-controlled, independent operation, aided by technologies internal to (on-board) the vehicles like cameras, antennas, radar, LiDAR, and other sensors, as well as exterior technologies like GPS (Global Positioning System), GNSS (Global Navigation Satellite System), terrestrial networks (like cellular 5G, LTE, etc.), and otherwise.

Efficient and safe operation of a vehicle depends on the reliability of the sensors and the quality of the data they provide for autonomous operation. On-board vehicle sensors are often sufficient for general operation, but have inherent limitations, including camera impairment and radar malfunction during inclement weather, inability to sometimes detect other objects and road conditions such as black ice, risks when changing lanes and making other maneuvers, and otherwise.

SUMMARY

The present disclosure relates in one embodiment to software and systems that communicate with a plurality of satellite networks, and the invention's multi-link satellite processor processes the satellite data utilizing database processing, artificial intelligence (AI) and predictive analytics to enhance the commands for a plurality of vehicles or objects.

The present disclosure relates in another embodiment to software and systems that can assume complete control of a vehicle for the purposes of maneuvering (like changing lanes) without dependence on the vehicle's cameras, sensors, antennas and other hardware and software, and in the event of a vehicle malfunction, including for vehicles that may be sensor-light or sensor-free and/or without using actuators, which offers economic benefits to vehicle cost.

The present disclosure relates in another embodiment to software and systems that determine how the satellites communicate with each other based on the geographic position of the vehicles and their surrounding objects. The multi-link satellite processor requests geofencing capability using identified satellites in the vehicle's preferred proximity to pin-point vehicle location, and utilizes database processing, artificial intelligence (AI) and predictive analytics to provide vehicles with information related to the specific surrounding geofenced area and nearby objects to support vehicle decision making and movements.

The present disclosure relates in another embodiment to software and systems that provide predictive information to the vehicles about areas that vehicle cameras can't see and that sensors can't detect, which also helps predict areas outside of the vehicles' radar, sensors, antennas, and camera range covered by other satellites, so the multi-link satellite processor can predict what will happen next, and command the vehicle accordingly.

The present disclosure relates in another embodiment to software and systems that utilize satellites' on-board computers, which can signal vehicles to enable telemetry and activate GPS (Global Positioning System), GNSS (Global Navigation Satellite System), and otherwise, to recognize the changing position of the vehicle, nearby vehicles, and the environment.

The present disclosure relates in another embodiment to software and systems that utilize bi-directional data flow between satellites using inter-satellite optical link (ISOL) or other method to facilitate geographic coverage and to serve autonomous vehicles in the various areas, and the embodiments of the multi-link satellite processor determines the relevance of the data and what should be sent via command to the vehicles.

The present disclosure relates in another embodiment to software and systems where the vehicles are assisted in detecting surrounding objects using CommNets' data from Pulse-Doppler radar, sound waves or other method to help detect distance between vehicles and other objects, and the data can be transmitted to the multi-link satellite processor directly from CommNets or via PrivNets.

The present disclosure relates in another embodiment to software and systems where data is collected from, generated, and processed using database processing, artificial intelligence (AI) and predictive analytics from a plurality of satellites that may have different features and functionality, including detecting stationary versus nonstationary objects, and the size of objects, by sending and receiving frequency mounted wave radar or otherwise, and then commands are provided to the vehicles.

The present disclosure relates in another embodiment to software and systems where images are requested from and provided in real-time or near-real-time from PrivNets or CommNets to embodiments of the multi-link satellite processor and are processed with the capability of zooming into areas surrounding the vehicle, and to make decisions the satellite imaging will be substituted for the vehicle's camera images depending on its capabilities, and eventually use all images from satellites when possible, and process them and send commands to the vehicle to make decisions, or in the event of vehicle malfunction, or camera failure or impairment.

The present disclosure relates in another embodiment to software and systems where communications between embodiments of the multi-link satellite processor, satellites and vehicles are global, or in areas of geographic coverage. Besides aforementioned communications between the multi-link satellite processor, satellites and vehicles, communications may also occur via relaying data between multiple other satellites (besides possibly PrivNets and CommNets), or from satellite to ground and then transmitted via ground-based, air-based or other communications such as fiber optic, microwave, radio or sound waves, lasers/optical, LED-based visible light communications (VLC), vehicle-to-vehicle (V2V), or other method, or utilize space station hubs like Earth-based ground stations or otherwise.

The present disclosure relates in another embodiment to software and systems of the embodiments of the invention that can operate ubiquitously, regardless of location or host, including in stationary and mobile data centers, ground stations, on planes and aerial vehicles, boats, and otherwise, such as Vehicle-Mounted Earth Stations (VMES) and Satellite On-The-Move (SOTM) terminals, including the multi-link satellite processor's software running in/on the satellites (like PrivNets, CommNets, or otherwise), and in/on the vehicles themselves.

The present disclosure relates in another embodiment to software and systems where reporting and charting of data, processing, and control concerning the autonomous vehicles, PrivNets and/or CommNets occurs via software, a mobile device-based application or website. Such software, application or website can be operated on a computer, mobile phone, wearable device, or other equipment.

DETAILED DESCRIPTION OF EMBODIMENTS

The use of certain terms in various places in the specification is for illustration and should not be construed as limiting. A service, function, or resource is not limited to a single service, function, or resource; usage of these terms may refer to a grouping of related services, functions, or resources, which may be distributed or aggregated. Furthermore, the use of memory, database, information base, data store, tables, hardware, and the like may be used herein to refer to system component or components into which information may be entered or otherwise recorded.

Further, it shall be noted that: (1) certain steps may optionally be performed; (2) steps may not be limited to the specific order set forth herein; (3) certain steps may be performed in different orders; and (4) certain steps may be done concurrently.

In this document, “autonomous”, “self-driving”, “self-controlled”, “driverless” and “pilotless” mean a vehicle or object with software, hardware and/or equipment that enables its operation to be autonomous or semi-autonomous (e.g., largely or totally independent of a human operator), but may benefit from time to time from outside information, commands and control, such as communications with the invention, satellites, and possibly other systems and vehicles.

“CommNets” means satellites and satellite networks other than PrivNets, including commercial satellites.

Signals and data flow depicted throughout this document used by embodiments of the invention for communication with satellites and vehicles are intended to be encrypted for security purposes, as applicable.

References to14(an automobile, for example) in this document shall also mean any other kind of vehicles or objects, including buses15, trucks16, trains17, drones18, robots19, space and aerial vehicles20, airplanes21, ships22and submarines23as shown inFIG.1, unless otherwise noted.

Referring toFIG.1, the present disclosure relates in one embodiment to a multi-link satellite processor10that processes and analyzes real-time or near-real-time data from a plurality of satellite networks that communicates via satellite dish or other method to transmit and receive data11and communicate with the multi-link satellite processor10via27,28, including PrivNets13, and communicates with4,5and improves data quality from CommNets12, and provides commands6via PrivNets13to7B vehicles or objects14. The multi-link satellite processor10enables improved decision making for vehicles14about location, road conditions, surrounding objects, and other information in proximity of and in the direction of the moving vehicle, and reduces dependence on vehicle cameras, sensors, radar, antennas and other hardware and software, such as when there is a malfunction with the vehicle, cameras, sensors or other devices.

InFIG.1, the multi-link satellite processor10is requesting and synchronizing data4from CommNets12, which transmits5such as weather information, the location and size of surrounding objects to the vehicles14, and images proximate to vehicles14, distance between vehicles14, speed and acceleration, and other data. The multi-link satellite processor10may receive data5directly from CommNets12with communications via11,27,28, or other signal source or method, or via PrivNets13,3B,4A,4B,8,8B.

FIG.1also illustrates, once the autonomous vehicle14starts-up, a code that is generated and transmitted1via its sensors (radar, LiDAR, or other device), antennas, radio waves or otherwise to the preferred positioned satellite(s) such as PrivNets13that covers a preferred geographic area of the vehicle. This code1contains information about the vehicle's14unique identification, location, speed and acceleration, timing, and maneuvering (such as changing lanes, braking, changing speeds, object recognition, summoning from parking, or other action). After PrivNets13receives a code1from the vehicle14, the code is transmitted from PrivNets13or its on-board signal computer (29inFIG.5) to3B the multi-link satellite processor10. Next, the multi-link satellite processor10processes the data to generate6to PrivNets13to transmit7B to vehicle14. The multi-link satellite processor10also can process the data and transmit a request4A to PrivNets13to enable telemetry7B to track the vehicle14and activate or initiate GPS (Global Positioning System), GNSS (Global Navigation Satellite System) or otherwise to recognize the changing position of the vehicle and the environment.

Referring toFIG.2, in multi-link satellite processor10: X is the database processing and storing of codes from the vehicle14including unique vehicle identification code, timing, speed and acceleration, and otherwise, and also stores signal codes received from CommNets12and PrivNets13; Y is the processing and analytics of the data from X, which matches the vehicle14data with the corresponding satellite12,13data; Z is the data and signal6created by the multi-link satellite processor10to command7B the vehicle14.

InFIG.2, the multi-link satellite processor10determine what vehicle's code matches what signals from CommNets and PrivNets. The multi-link satellite processor10processes data stored in X from5CommNets12and8from PrivNets13to match the data from3B using Y. Then, Z combines multiple processed signals from Y to create the command6that it sent to PrivNets13, and transmits to the vehicle14the command7B instructing it to slow down, change lanes, brake, or otherwise. (FIG.1discussed4,4A,4B,8B,11,27,28.)

Referring toFIG.3, the vehicle14transmits code1with its location to PrivNets13. Then, Y determines which satellite(s), including one or more PrivNets13or CommNets12, are in preferred proximity to vehicle14. Next, the multi-link satellite processor transmits signal6to one or more preferred proximity PrivNets13(or CommNets12) to geofence24the vehicle14. When geofencing is in effect, PrivNets13sends a command7B to vehicle14to move or otherwise. The multi-link satellite processor10provides geofencing capability to pin-point vehicle14locations using identified satellites12,13in the preferred proximity, and utilizes database processing, artificial intelligence (AI) and predictive analytics to provide vehicles14with information7B related to the specific surrounding geofenced area24, and nearby objects, to enhance or command vehicle decision making and movements. The multi-link satellite processor10also commands how the satellites12,13communicate with each other based on the geographic position of the vehicles14and their surrounding objects. (FIG.1andFIG.2discussed3B,4,4B,5,6,8B,11,27,28, andFIG.5discusses13B,31,32.)

AsFIG.4illustrates, in certain situations one or more satellites (CommNets12or PrivNets13) may not be proximate to vehicle14. The multi-link satellite processor10utilizes bi-directional data flow between satellites12,13using an inter-satellite optical link4B,8B,31,32or otherwise to facilitate geographic coverage and to serve autonomous vehicles14in various areas24or otherwise, and the multi-link satellite processor10determines the relevance of the data3B and what should be sent via6to command7B the vehicles14.

Also inFIG.4, signal1is transmission of the vehicle14location code to PrivNets13. Signal3B provides the vehicle14location code to the multi-link satellite processor10, which may then determine that no satellites are positioned directly above, in line-of-sight (LOS), or in proximity to the geofenced area covering the vehicle14. The multi-link satellite processor10examines the location code via1,3B to determine the location of the preferred proximity satellite12,13in a different geographic area, and multi-link satellite processor10initiates a request4to CommNets12, or4A,4B via PrivNets to CommNets, or4A to PrivNets, to obtain the data from the satellite(s)8,8B. The multi-link satellite processor10processes the8,8B data and transmits W to PrivNets13, which passes the data W2to PrivNets13B using inter-satellite optical link (ISOL) or other method, where13B is the preferred proximity satellite to the vehicle14to pass command7B.

Referring toFIG.5, the multi-link satellite processor10uses and analyzes Y distinct features and capabilities of similar or disparate satellites and networks12A,12B,12C,13to command7B vehicle14operation and maneuvers M1for vehicle14moving to14′ according to various embodiments of the invention. For example, CommNets12A Pulse-Doppler radar data, sound waves or other methods are used to measure vehicle14distance from other objects V1, V2, V3; CommNets12B is for telemetry which measures the size of stationary and non-stationary objects (as does25for imaging and transmitted via5), and otherwise; CommNets12C is for imaging25to determine vehicle14proximity to other objects V1, V2, V3and sent via5to multi-link satellite processor10, and otherwise; other features and capabilities may also be available from other satellites. The multi-link satellite processor10combines the information from12A,12B,12C, and possibly other satellites, into one signal6via PrivNets13, or from PrivNets13via6B to PrivNets13B, to transmit command7B to the vehicle14. After acting on commands, the vehicle14sends updated information via9,9B,9C to the multi-link satellite processor10, which processes the information using its software, database processing, artificial intelligence (AI) and predictive analytics X, Y, Z.

InFIG.5, images provided in real-time or near-real-time from CommNets12C (or PrivNets13) to the multi-link satellite processor10are processed with the capability of zooming into areas surrounding the vehicle14, and to make vehicle14decisions where the satellite imaging will substitute for the vehicle's14camera images depending on its capabilities, and eventually use all images from satellites12C,13, or otherwise when possible, and process them to make vehicle14decisions. CommNets12C (or PrivNets13,13B) images also may be utilized to independently assist with a vehicle's14operation and maneuvers M1in real-time or near-real-time in the event of vehicle14sensor or camera failure.

Also inFIG.5, the multi-link satellite processor10needs to determine the distance between an autonomous vehicle14and its surrounding objects. The multi-link satellite processor10requests4A for PrivNets13via4B and requests4from CommNets12A to provide Pulse-Doppler radar data or otherwise and transmit back signals8B via PrivNets13to8to multi-link satellite processor10and/or from12A via5back to the multi-link satellite processor10. Then, the multi-link satellite processor10combines the data with preexisting vehicle codes (including timing and tracking), which have been saved and processed X, Y, Z. The multi-link satellite processor10generates6to PrivNets13including data about the distance from other objects within the requested area of vehicle14and the direction it is headed.

While only illustrated inFIG.5, PrivNets13satellites may have on-board computers29. The multi-link satellite processor10is able to communicate directly with vehicle14antennas and sensors, and PrivNets13, through radio signals and/or via PrivNets' computers29, or other methods.

Referring toFIG.5, when the multi-link satellite processor10utilizes different signals from different satellites, PrivNets13uses multiplexing to combine signals from one or more CommNets12and/or PrivNets13satellites and networks.

Referring toFIG.5, the multi-link satellite processor10may utilize frequency mounted wave radar or other methods to differentiate between stationary V3and non-stationary vehicles14, V1, V2.

InFIG.5, as the vehicle14moves, the unique vehicle identification code remains the same for PrivNets13and multi-link satellite processor10for the purposes of tracking the vehicle14; however, the vehicle14continuously transmits1and/or9ever-changing data including vehicle14location, timing, speed and other codes to update the multi-link satellite processor10.

The following other methods and embodiments may or may not be illustrated by one or more figures:

Communications between the multi-link satellite processor10, a plurality of satellites12,13, and a plurality of vehicles14, may also be facilitated using “signal repeater method” or other method.

The multi-link satellite processor10enables the complete control of a vehicle14via satellites12,13, and supplements and/or supplants the autonomous vehicle capabilities for maneuvering purposes (like changing lanes), or in the event of a malfunction or deficiency with vehicle14, sensors, cameras, antennas or other equipment, including vehicles14that may be sensor-free or sensor-light, without using actuators, which offers economic benefits to vehicle cost.

The multi-link satellite processor10provides database processing, artificial intelligence (AI) and predictive analytics that generates information (via satellites or otherwise) to vehicles14about areas where vehicle14cameras can't see and where sensors can't detect, which also helps predict areas outside of the vehicles'14radar, LiDAR, sensors, antennas, and camera range covered by other satellites, so the multi-link satellite processor10can anticipate what will happen next, and provide commands7B to vehicle14to act.

In situations where the vehicle14may be located on another continent or geographic area relative to the multi-link satellite processor's10software and equipment, and PrivNets13and CommNets12satellites may not be in the current vehicle14coverage area, then communications between vehicle14, satellites12,13and multi-link satellite processor10may occur via relaying data between multiple satellites, or from satellite to ground stations, and/or transmitted via ground-based, air-based or other communications such as fiber optic, microwave, radio or sound waves, lasers/optical, LED-based visible light communications (VLC), vehicle-to-vehicle (V2V), or other methods, or utilize space station hubs regionally or worldwide like an ground station or otherwise.

The software and systems that comprise the multi-link satellite processor10need not merely be stationary and ground-based. The multi-link satellite processor10may operate ubiquitously, regardless of location or host, including in stationary and mobile data centers, ground stations, on trucks, trains, airplanes and aerial vehicles, boats, and otherwise, such as Vehicle-Mounted Earth Stations (VMES) and Satellite On-The-Move (SOTM) terminals, including the multi-link satellite processor10software running in/on the satellites (like PrivNets13, CommNets12or otherwise), and in/on the vehicles14themselves.

Various embodiments of the invention may include computer software, a mobile device-based application or website for the reporting and charting of data, processing, and control concerning the autonomous vehicles14, PrivNets13and/or CommNets12. Such software, applications or website can be operated on a computer, mobile phone, wearable device, or other equipment.