Techniques for operating an autonomous follower vehicle that is following a leader vehicle. A desired path to be experienced by the follower may be determined from a leader follower relative pose (LFRP) derived from sensor data. Tracking gestures are derived along the desired path from current leader gestures, such as backward or forward interpolation. Thus, the tracking distance does not need to be the same as the distance derived only from the LFRP. This permits steering control (lateral position) to be liberated from meeting the requirements of safety constraints that, if not in this way, may be imposed by other considerations, such as longitudinal spacing between vehicles.
用于操作正在跟随引领者交通工具的自主跟随者交通工具的技术。可以根据从传感器数据导出的引领者跟随者相对姿态(LFRP)来确定该跟随者要经历的期望路径。从目前引领者姿态、诸如向后或向前内插来沿着期望路径导出追踪姿态。因此,追踪距离不再需要与仅从LFRP导出的距离相同。这准许转向控制(横向位置)从满足安全性约束的要求中解放出来,该安全性约束如果不以这种方式则可能通过其他考虑因素(诸如,交通工具之间的纵向间距)而被强加。
Vision-based follow-up leader lateral controller
基于视觉的跟随引领者横向控制器
2022-07-29
Patent
Electronic Resource
Chinese