Method and system for following a lead vehicle

• US 20060229804A1
• Filed: 03/31/2005
• Published: 10/12/2006
• Est. Priority Date: 03/31/2005
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Hunt, Kenneth Edward, Schmidt, Mark Alvin, Holm, David Roy, Stephens, Scott Adam
• Granted Patent: US 7,593,811 B2
• Time in Patent Office: Days
• US Class Current: 701/205
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

A transmitter at a lead vehicle transmits a first transmission signal toward a first beacon and a second beacon associated with a following vehicle. A data processor or estimator determines a first propagation time associated with the first transmission and the first beacon and a second propagation time associated with the first transmission and the second beacon. A vehicle controller controls a heading of the following vehicle to maintain a first distance substantially equal to a second distance (i.e., first propagation time substantially equal to a second propagation time) or a first distance that deviates from the second distance by a predetermined maximum amount.

Claims

1. A method for following of a lead vehicle with a following vehicle, the method comprising:

transmitting a first transmission signal toward a first beacon and a second beacon associated with a following vehicle;

determining a first propagation time associated with the first transmission and the first beacon and a second propagation time associated with the first transmission and the second beacon;

controlling a heading of the following vehicle to maintain a first propagation time substantially equal to the second propagation time.

2. The method according to claim 1 wherein first propagation time comprises a propagation time between the transmission time at the transmitter and a reception time at the first beacon, and wherein the second propagation time comprises a propagation time between the transmission time at the transmitter and a reception time at the second beacon.

3. The method according to claim 1 wherein the first propagation time comprises a first aggregate elapsed time between the transmission time of the first transmission signal to a first beacon and a return signal from the first beacon to the lead vehicle, the second propagation time comprises a second aggregate elapsed time between the transmission time of the first transmission signal to a second beacon and a return signal from the second beacon to the lead vehicle.

4. The method according to claim 1 wherein the controlling further comprises controlling a heading of the following vehicle to maintain a first propagation time substantially equal to the second propagation time for straight or a linear path segment and controlling a heading of the following vehicle to maintain a first distance that deviates from the second distance by a predetermined maximum amount for a curved path or turn.

5. The method according to claim 1 further comprising:

converting the first propagation time and the second propagation time into a first distance and a second distance, respectively, prior to processing by the following vehicle controller.

6. A method for following of a lead vehicle with a following vehicle, the method comprising:

transmitting a first transmission signal from a transmitter at a lead vehicle toward a first beacon and a second beacon associated with a following vehicle, the first beacon and second beacon separated by a known distance;

determining a first aggregate elapsed time between the transmission of the first transmission signal to a first beacon and a return signal from the first beacon to the lead vehicle;

determining a second aggregate elapsed time between the transmission of the first transmission signal to a second beacon and a return signal from the second beacon to the lead vehicle;

converting the first aggregate elapsed time into a first distance between the transmitter and the first beacon;

converting the second aggregate elapsed time into a second distance between the transmitter and the second beacon; and

controlling a heading of the following vehicle to maintain a first distance substantially equal to a second distance.

7. The method according to claim 6 further comprising:

controlling a speed of the following vehicle to maintain at least one of a desired first distance and a desired second distance.

8. The method according to claim 6 wherein the controlling further comprising tracking a lead heading of the leading vehicle with a following heading of a following vehicle with a delay based on at least one of the speed and acceleration of the lead vehicle.

9. The method according to claim 6 further comprising:

determining a global position of the lead vehicle based at least partially on a reception of a group of satellite signals;

determining a global position of the following vehicle based at least partially on a reception of a group of satellite signals;

recording a registration of a leading heading of the lead vehicle with the respective global position;

controlling the following heading of the following vehicle to match that of the lead vehicle at the respective global position provided that the leading vehicle and following vehicle maintain a minimum separation.

10. A method for following of a lead vehicle with a following vehicle, the method comprising:

transmitting a first transmission signal from a transmitter at a lead vehicle toward a first beacon associated with a following vehicle;

communicating between the first beacon and a second beacon spaced apart from the first beacon by a known distance;

transmitting a second transmission signal from the second beacon to the lead vehicle;

determining a first elapsed time between the transmission of the first transmission signal to a first beacon;

determining a second elapsed time between the transmission of the second transmission signal from the second beacon to the lead vehicle;

converting the first elapsed time into a first distance between the transmitter and the first beacon;

converting the second elapsed time into a second distance between the transmitter and the second beacon; and

controlling a heading of the following vehicle to maintain a first distance substantially equal to a second distance.

11. The method according to claim 10 further comprising:

controlling a speed of the following vehicle to maintain at least one of a desired first distance and a desired second distance.

12. The method according to claim 10 wherein the controlling further comprising tracking a lead heading of the leading vehicle with a following heading of a following vehicle with a delay based on at least one of the speed and acceleration of the lead vehicle.

13. The method according to claim 10 further comprising:

determining a global position of the lead vehicle based at least partially on a reception of a group of satellite signals;

determining a global position of the following vehicle based at least partially on a reception of a group of satellite signals;

recording a registration of a leading heading of the lead vehicle with the respective global position;

controlling the following heading of the following vehicle to match that of the lead vehicle at the respective global position provided that the leading vehicle and following vehicle maintain a minimum separation.

14. A system for following of a lead vehicle with a following vehicle, the system comprising:

a transmitter for transmitting a first transmission signal from a transmitter at a lead vehicle toward a first beacon and a second beacon associated with a following vehicle, the first beacon and second beacon separated by a known distance;

an estimator for determining a first aggregate elapsed time between the transmission of the first transmission signal to a first beacon and a return signal from the first beacon to the lead vehicle, the estimator arranged to determine a second aggregate elapsed time between the transmission of the first transmission signal to a second beacon and a return signal from the second beacon to the lead vehicle;

a converter for converting the first aggregate elapsed time into a first distance between the transmitter and the first beacon and for converting the second aggregate elapsed time into a second distance between the transmitter and the second beacon; and

a vehicle controller for controlling a heading of the following vehicle to maintain a first distance substantially equal to a second distance.

15. The system according to claim 14 wherein the vehicle controller controls a speed of the following vehicle to maintain at least one of a desired first distance and a desired second distance.

16. The system according to claim 14 wherein the vehicle controller tracks a lead heading of the leading vehicle with a following heading of a following vehicle with a delay based on at least one of the speed and acceleration of the lead vehicle.

17. The system according to claim 14 further comprising:

a first location determining receiver for determining a global position of the lead vehicle based at least partially on a reception of a group of satellite signals;

a second location determining receiver for determining a global position of the following vehicle based at least partially on a reception of a group of satellite signals;

a data storage device for recording a registration of a leading heading of the lead vehicle with the respective global position;

a following vehicle controller for controlling the following heading of the following vehicle to match that of the lead vehicle at the respective global position provided that the leading vehicle and following vehicle maintain a minimum separation.

18. A system for following of a lead vehicle with a following vehicle, the system comprising:

a transmitter for transmitting a first transmission signal from a transmitter at a lead vehicle toward a first beacon associated with a following vehicle;

a wireless communications device for communicating between the first beacon and a second beacon spaced apart from the first beacon by a known distance;

a transceiver for transmitting a second transmission signal from the second beacon to the lead vehicle;

an estimator for determining a first elapsed time between the transmission of the first transmission signal to a first beacon and for determining a second elapsed time between the transmission of the second transmission signal from the second beacon to the lead vehicle;

a converter for converting the first elapsed time into a first distance between the transmitter and the first beacon and for converting the second elapsed time into a second distance between the transmitter and the second beacon; and

a vehicle controller for controlling a heading of the following vehicle to maintain a first distance substantially equal to a second distance.

19. The system according to claim 18 wherein the vehicle controller controls a speed of the following vehicle to maintain at least one of a desired first distance and a desired second distance.

20. The system according to claim 18 wherein vehicle controller comprises tracking a lead heading of the leading vehicle with a following heading of a following vehicle with a delay based on at least one of the speed and acceleration of the lead vehicle.

21. The system according to claim 18 further comprising:

a first location determining receiver for determining a global position of the lead vehicle based at least partially on a reception of a group of satellite signals;

a second location determining a global position of the following vehicle based at least partially on a reception of a group of satellite signals;

a data storage device for recording a registration of a leading heading of the lead vehicle with the respective global position;

a following vehicle controller for controlling the following heading of the following vehicle to match that of the lead vehicle at the respective global position provided that the leading vehicle and following vehicle maintain a minimum separation.