The path of a lead autonomous vehicle moving through “deformable” terrain is shared between the lead autonomous vehicle and the following autonomous vehicles with a much lower cost. The lead autonomous vehicle records distances to 3D obstacles and whether to drive through them and the following autonomous vehicles will classify different “obstacles” that were driven through by the leader and allow the planner to drive through them. In “deformable” terrain, errors in wheel odometry will be recorded by the lead autonomous vehicle and the following autonomous vehicles are informed that similar problems will be encountered. These errors are sensed by discrepancies between odometry and inertial and visual odometry. The behavior of the following autonomous vehicles may preclude them from creating accelerations that may slip as experienced by the lead autonomous vehicle. A method for sharing navigation errors due to terrain slippage will be used between the lead autonomous vehicle and following autonomous vehicles and to feed-forward the predicted odometry errors of the following autonomous vehicles and improve overall localization. Another aspect is that while it is desired for the following autonomous vehicles to traverse the “deformable” terrain, it must also avoid other “new” obstacles encountered by the lead autonomous vehicle.
Autonomous Convoys Maneuvering "Deformable" Terrain and "Deformable" Obstacles
2021-03-25
Patent
Elektronische Ressource
Englisch
IPC: | G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |
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