FOLLOWER VEHICLE CONTROL SYSTEM AND METHOD FOR FORWARD AND REVERSE CONVOY MOVEMENT
First Claim
1. A vehicle control system for causing a follower vehicle to follow a leader, comprising:
- a tether system mounted to the follower vehicle, said tether system comprising;
a tether having an end adopted to be attached to the leader;
a length sensor operatively associated with said tether, said length sensor sensing a length of said tether extending between the follower vehicle and the leader; and
an angle sensor operatively associated with said tether, said angle sensor sensing an angle between said tether and the follower vehicle;
a path tracking system operatively associated with said tether system, said path tracking system determining a path traveled by the leader;
a path control system operatively associated with said path tracking system and the follower vehicle, said path control system causing the follower vehicle to follow the path traveled by the leader; and
a spacing control system operatively associated with said path tracking system and the follower vehicle, said spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader.
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Accused Products
Abstract
A vehicle control system for causing a follower vehicle to follow a leader may have a tether system mounted to the follower vehicle. The tether system may include a tether having an end adopted to be attached to the leader, a length sensor, and an angle sensor. A path tracking system operatively associated with the tether system determines a path traveled by the leader. A path control system operatively associated with the path tracking system and the follower vehicle causes the follower vehicle to follow the path traveled by the leader. A spacing control system operatively associated with the path tracking system and the follower vehicle causes the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader.
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Citations
24 Claims
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1. A vehicle control system for causing a follower vehicle to follow a leader, comprising:
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a tether system mounted to the follower vehicle, said tether system comprising; a tether having an end adopted to be attached to the leader; a length sensor operatively associated with said tether, said length sensor sensing a length of said tether extending between the follower vehicle and the leader; and an angle sensor operatively associated with said tether, said angle sensor sensing an angle between said tether and the follower vehicle; a path tracking system operatively associated with said tether system, said path tracking system determining a path traveled by the leader; a path control system operatively associated with said path tracking system and the follower vehicle, said path control system causing the follower vehicle to follow the path traveled by the leader; and a spacing control system operatively associated with said path tracking system and the follower vehicle, said spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A vehicle control system for causing a follower vehicle to follow a leader, comprising:
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a tether mounted to the follower vehicle, said tether having an end adopted to be attached to the leader; length sensing means operatively associated with said tether for sensing a length of said tether extending between the follower vehicle and the leader; angle sensing means operatively associated with said tether for sensing an angle between said tether and the follower vehicle; a path tracking system operatively associated with said length sensing means and said angle sensing means, said path tracking system determining a path traveled by the leader; a path control system operatively associated with said path tracking system and the follower vehicle, said path control system causing the follower vehicle to follow the path traveled by the leader; and a spacing control system operatively associated with said path tracking system and the follower vehicle, said spacing control system causing the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader. - View Dependent Claims (12, 13, 14)
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15. A method for causing a follower vehicle to follow a leader, comprising:
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connecting the follower vehicle to the leader with a tether; measuring a length of the tether connecting the follower vehicle to the leader; measuring an angle between the tether and the follower vehicle; determining a position of the leader based on the measured length and the measured angle; determining a path traveled by the leader based on a plurality of determined leader positions; steering the follower vehicle so that the follower vehicle substantially follows the path traveled by the leader; and controlling a velocity of the follower vehicle so that the follower vehicle maintains a predetermined distance from the leader. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22, 23, 24)
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Specification