Techniques for operating an autonomous follower vehicle that is following a leader vehicle. A desired path to be traversed by the follower may be determined from a Leader Follower Relative Pose (LFRP) derived from sensor data. A pursuit pose is derived along the desired path from the present leader pose, such as either interpolating backward or forward. As a result, the pursuit distance no longer needs to be the same as the distance derived solely from the LFRP. This permits steering controls (lateral position) to be freed from requirements to satisfy safety constraints that might otherwise be imposed by other considerations (such as longitudinal spacing between vehicles).
Vision-based follow the leader lateral controller
2022-05-05
Patent
Electronic Resource
English
IPC: | 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 / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G08G Anlagen zur Steuerung, Regelung oder Überwachung des Verkehrs , TRAFFIC CONTROL SYSTEMS |