Active cross path position correlation device
First Claim
1. A system for controlling a follower vehicle based upon data that represents first and second side range profiles along a predefined path, comprising:
- a) generation means for gathering data and for generating the first and second side range profiles, comprising;
i) first profile generation means for generating the first side range profile representing first distances between a lead vehicle and objects to a side of the lead vehicle, measured laterally from the predefined path, at various points along the predefined path; and
ii) second profile generation means for generating the second side range profile representing second distances between the follower vehicle and the objects to a corresponding side of the follower vehicle at various points along the predefined path;
b) correlation means for correlating the first side range profile with the second side range profile and for determining therefrom a location of the follower vehicle along the predefined path; and
c) control means for controlling the follower vehicle in response to the correlation means such that the follower vehicle traverses the predefined path.
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Accused Products
Abstract
A system guides a vehicle along a predefined path by correlating vehicle side range profiles. A lead vehicle gathers side range data using active radiation sources such as light emitting diodes. A microprocessor-based system on board the lead vehicle stores the data into records of a database file, tagging each record to indicate a relative position along the path when the lead vehicle obtained the data. A system on board a follower vehicle gathers its own side range data and also generates a side range profile for the follower vehicle. The follower vehicle'"'"'s system receives by radio communication the side range profiles from the lead vehicle and, using the tagging information, correlates these profiles with the follower vehicle side range profiles at appropriate points along the path. As a result of the correlation, the follower vehicle'"'"'s system outputs commands to actuators coupled to the vehicle'"'"'s steering system, throttle, and braking system to control the vehicle'"'"'s motion so that the vehicle traverses the predefined path.
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Citations
28 Claims
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1. A system for controlling a follower vehicle based upon data that represents first and second side range profiles along a predefined path, comprising:
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a) generation means for gathering data and for generating the first and second side range profiles, comprising; i) first profile generation means for generating the first side range profile representing first distances between a lead vehicle and objects to a side of the lead vehicle, measured laterally from the predefined path, at various points along the predefined path; and ii) second profile generation means for generating the second side range profile representing second distances between the follower vehicle and the objects to a corresponding side of the follower vehicle at various points along the predefined path; b) correlation means for correlating the first side range profile with the second side range profile and for determining therefrom a location of the follower vehicle along the predefined path; and c) control means for controlling the follower vehicle in response to the correlation means such that the follower vehicle traverses the predefined path. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24)
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25. A process for controlling cross-track and along-track motion of a follower vehicle along a predefined path, comprising the steps of:
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a) generating a first side range profile that represents distances between a lead vehicle and objects to a side of the lead vehicle, measured laterally from the predefined path, at various points along the predetermined path; b) providing the follower vehicle with the first side range profile; c) gathering data to generate a second side range profile that represents distances between the follower vehicle and the objects to a corresponding side of the follower vehicle at various points along the predefined path; d) correlating the first and second side range profiles to determine a position of the follower vehicle on the predefined path; e) generating error signals that represent an amount by which the follower vehicle has drifted from the predefined path; and f) outputting correction signals to control the side-track and along-track motion of the follower vehicle and to maintain the follower vehicle on the predefined path. - View Dependent Claims (26, 27)
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28. A system for controlling a vehicle based upon data that represents first and second side range profiles along a predefined path, comprising:
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a) generation means for gathering data and for generating the first and second side range profiles, comprising; i) first profile generation means for generating the first side range profile representing first distances between the vehicle and objects to a side of the vehicle, measured laterally from the predefined path, at various points along the predefined path during a first traversal of the predefined path; ii) recording means for storing the first side range profile in a storage medium on board the vehicle; and iii) second profile generation means for generating the second side range profile representing second distances between the vehicle and the objects to a corresponding side of the vehicle at various points along the predefined path during a second traversal of the predefined path; b) correlation means for retrieving the first side range profile from the storage medium, for correlating the first side range profile with the second side range profile, and for determining therefrom a location of the vehicle along the predefined path; and c) control means for controlling the vehicle in response to the correlation means such that during the second traversal of the predetermined path the vehicle does not require a human operator.
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Specification