Position Estimation and Vehicle Control in Autonomous Multi-Vehicle Convoys
First Claim
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1. A computer-implemented method for providing pose estimations in a multi-vehicle convoy, the method comprising:
- initializing, using a convoy control system, a convoy state, wherein the convoy state comprises pose data for each vehicle of the multi-vehicle convoy or pose data for a subset of the vehicles of the multi-vehicle convoy;
selecting, using the convoy control system, a sensor reading data from at least one vehicle sensor amongst a plurality of vehicle sensors;
updating, using the convoy control system, a future convoy state based on the sensor reading data;
predicting, using the convoy control system, the convoy state to a future point in time; and
communicating the updated convoy state for affecting future pose of the multi-vehicle convoy.
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Abstract
Techniques are provided for providing position estimations in an autonomous multi-vehicle convoy. Those techniques include initializing a convoy state, selecting a next sensor reading; predicting a convoy state, updating the convoy state, and broadcasting the convoy state to vehicles in the multi-vehicle convoy.
99 Citations
37 Claims
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1. A computer-implemented method for providing pose estimations in a multi-vehicle convoy, the method comprising:
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initializing, using a convoy control system, a convoy state, wherein the convoy state comprises pose data for each vehicle of the multi-vehicle convoy or pose data for a subset of the vehicles of the multi-vehicle convoy; selecting, using the convoy control system, a sensor reading data from at least one vehicle sensor amongst a plurality of vehicle sensors; updating, using the convoy control system, a future convoy state based on the sensor reading data; predicting, using the convoy control system, the convoy state to a future point in time; and communicating the updated convoy state for affecting future pose of the multi-vehicle convoy. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A vehicle of a multi-vehicle convoy, the vehicle comprising:
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a convoy control system having a processor, a memory and a communications interface, wherein the convoy control system configured to initialize a convoy state, wherein the convoy state comprises pose data for each vehicle of the multi-vehicle convoy or pose data for a subset of the vehicles of the multi-vehicle convoy; select a sensor reading data from at least one vehicle sensor amongst a plurality of vehicle sensors; update a future convoy state based on the sensor reading data; predict the convoy state to a future point in time; and communicate the updated convoy state for affecting future pose of the multi-vehicle convoy. - View Dependent Claims (18, 19, 20, 21, 22)
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23. A non-transitory computer-readable storage medium having stored thereon a set of instructions, executable by a processor, for providing pose estimations in a multi-vehicle convoy, the instructions comprising:
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instructions for initializing, using a convoy control system, a convoy state, wherein the convoy state comprises pose data for each vehicle of the multi-vehicle convoy or pose data for a subset of the vehicles of the multi-vehicle convoy; instructions for selecting, using the convoy control system, a sensor reading data from at least one vehicle sensor amongst a plurality of vehicle sensors; instructions for updating, using the convoy control system, a future convoy state based on the sensor reading data; instructions for predicting, using the convoy control system, the convoy state to a future point in time; and instructions for communicating the updated convoy state for affecting future pose of the multi-vehicle convoy. - View Dependent Claims (24, 25, 26, 27, 28, 29)
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30. A computer-implemented method for determining a control sequence for a follower vehicle in a multi-vehicle convoy, the method comprising:
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a) receiving, at a convoy control system, a control sequence for a lead vehicle; b) estimating, at the convoy control system, a vehicle path for the lead vehicle; c) initializing a current best control sequence equal to the lead vehicle control sequence; d) forward simulating, at the convoy control system, a vehicle control sequence for the follower vehicle based on the current best vehicle control sequence, generating a forward simulated path; e) measuring the error between the forward simulated vehicle path and the lead vehicle path; f) performing a gradient descent operation on the forward simulated vehicle control sequence; g) analyzing the forward simulated vehicle control sequence for convergence with the lead vehicle path; if the forward simulated control sequence does not converge with the vehicle path, setting the current best control sequence equal to the forward simulated vehicle control sequence then repeating d), e), f) and g); and if the forward simulated control sequence does converge with the vehicle path, issuing the forward simulated control sequence to the follower vehicle. - View Dependent Claims (31, 32)
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33. A vehicle of a multi-vehicle convoy, the vehicle comprising:
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a convoy control system having a processor, a memory and a communications interface, wherein the convoy control system configured to a) receive, at a convoy control system, a control sequence for a lead vehicle; b) estimate, at the convoy control system, a vehicle path for the lead vehicle; c) initialize a current best control sequence equal to the lead vehicle control sequence; d) forward simulate, at the convoy control system, a vehicle control sequence for the follower vehicle based on the current best vehicle control sequence, generating a forward simulated path; e) measure the error between the forward simulated vehicle path and the lead vehicle path; f) perform a gradient descent operation on the forward simulated vehicle control sequence; g) analyze the forward simulated vehicle control sequence for convergence with the lead vehicle path; if the forward simulated control sequence does not converge with the vehicle path, set the current best control sequence equal to the forward simulated vehicle control sequence then repeating d), e), f) and g); and if the forward simulated control sequence does converge with the vehicle path, issue the forward simulated control sequence to the follower vehicle.
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34. A non-transitory computer-readable storage medium having stored thereon a set of instructions, executable by a processor, for determining a control sequence for a follower vehicle in a multi-vehicle convoy, the instructions comprising:
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a) instructions for receiving, at a convoy control system, a control sequence for a lead vehicle; b) instructions for estimating, at the convoy control system, a vehicle path for the lead vehicle; c) instructions for initializing a current best control sequence equal to the lead vehicle control sequence; d) instructions for forward simulating, at the convoy control system, a vehicle control sequence for the follower vehicle based on the current best vehicle control sequence, generating a forward simulated path; e) instructions for measuring the error between the forward simulated vehicle path and the lead vehicle path; f) instructions for performing a gradient descent operation on the forward simulated vehicle control sequence; g) instructions for analyzing the forward simulated vehicle control sequence for convergence with the lead vehicle path; instructions for, if the forward simulated control sequence does not converge with the vehicle path, setting the current best control sequence equal to the forward simulated vehicle control sequence then repeating d), e), f) and g); and instructions for, if the forward simulated control sequence does converge with the vehicle path, issuing the forward simulated control sequence to the follower vehicle.
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35. A computer-implemented method for determining a control sequence for a follower vehicle in a multi-vehicle convoy, the method comprising:
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initializing a vehicle parameter model comprising a plurality of parameters for a vehicle; obtaining log data for the vehicles whose parameters are to be learned, the log data comprising control data and actual pose data for the vehicle over a period of time; determining a vehicle model error from comparing estimated pose data and the actual pose data for the multi-vehicle convoy; and in response to determining the vehicle model error, updating the vehicle parameter model to reduce the vehicle model error.
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36. A vehicle of a multi-vehicle convoy, the vehicle comprising:
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a convoy control system having a processor, a memory and a communications interface, wherein the convoy control system configured to initialize a vehicle parameter model comprising a plurality of parameters for a vehicle; obtain log data for the vehicles whose parameters are to be learned, the log data comprising control data and actual pose data for the vehicle over a period of time; determine a vehicle model error from comparing estimated pose data and the actual pose data for the multi-vehicle convoy; and in response to determining the vehicle model error, update the vehicle parameter model to reduce the vehicle model error.
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37. A non-transitory computer-readable storage medium having stored thereon a set of instructions, executable by a processor, for determining a control sequence for a follower vehicle in a multi-vehicle convoy, the instructions comprising:
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instructions for initializing a vehicle parameter model comprising a plurality of parameters for a vehicle; instructions for obtaining log data for the vehicles whose parameters are to be learned, the log data comprising control data and actual pose data for the vehicle over a period of time; instructions for determining a vehicle model error from comparing estimated pose data and the actual pose data for the multi-vehicle convoy; and instructions for, in response to determining the vehicle model error, updating the vehicle parameter model to reduce the vehicle model error.
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Specification