System and method for behavior based control of an autonomous vehicle

Abstract

System and method for behavior based control of an autonomous vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle lever, steering gear, tie rods, throttle, brake, accelerator, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. The behaviors include action sets ranked by priority, and the action sets include alternative actions that the vehicle can take to accomplish its task. The alternative actions are ranked by preference, and an arbiter selects the action to be performed and, optionally, modified.

What is claimed is: 
     
         1 . A method for behavior based control of an autonomous vehicle, the method comprising the steps of:
 identifying at least one input device in the autonomous vehicle;   providing at least one actuator associate with the at least one input device;   providing at least one arbiter associated with the at least one actuator;   defining a plurality of behaviors associated with the at least one actuator,   defining at least one action set, each action set characterized at least in part by a priority and comprising a plurality of alternative actions ranked according to a corresponding plurality of preferences;   selecting, by the at least one arbiter, the action set having the highest corresponding priority;   selecting, by the at least one arbiter, from the selected action set, of the alternative action having the highest corresponding preference; and   operating the at least one input device in accordance with the selected alternative action;   wherein each of the behaviors implements at least one of (i) providing the at least one action set, and (ii) modifying at least a portion of the selected action set.   
     
     
         2 .- 28 . (canceled)