Method and apparatus for vehicle control, navigation and positioning

• US 6,732,024 B2
• Filed: 05/07/2001
• Issued: 05/04/2004
• Est. Priority Date: 05/07/2001
• Status: Expired due to Fees

• Current Assignee: Board of Trustees of the Leland Stanford Junior University (Stanford University)
• Original Assignee: Board of Trustees of the Leland Stanford Junior University (Stanford University)
• Inventors: Wilhelm Rekow, Andrew Karl, Bevly, David Mark, Parkinson, Bradford W.
• Primary Examiner(s): Cuchlinski, Jr., William A
• Assistant Examiner(s): Hernandez, Olga
• Application Number:
  US09/850,288
• Publication Number:
  US 20020165649A1
• Time in Patent Office: 1,093 Days
• Field of Search: 701/26, 701/96, 701/200, 701/209, 701/210, 701/201, 731/78.R, 340/901, 340/903
• US Class Current: 701/26
• CPC Class Codes: A01B 69/008 automatic
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

The present invention provides for a method and apparatus for providing navigation and positioning for at least one or more slave vehicles, wherein the slave vehicles provide their own navigation based on a location of a master vehicle. The method and apparatus allow a slave vehicle to receive a location of a master vehicle and a location of the slave vehicle. Once the location of the vehicles are known, the slave vehicle determines a desired position based on the master vehicle location, determines if adjustments are needed to position the first slave vehicle at the desired position and implements the adjustments if adjustments are needed. The slave vehicle is capable of operating in one of a plurality of modes and further is capable of transitioning from a first mode of operation to a second mode of operation in optimizing navigation and control.

Claims

1. A method for providing navigation for at least a first slave vehicle, wherein the first slave vehicle navigates based on a location of a master vehicle, the method comprising the steps of:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle;

determining a desired position of the first slave vehicle based on the master vehicle location including determining a first destination point relative to the location of the master vehicle;

determining a first optimal course needed to position the first slave vehicle at the first destination point; and

determining adjustments including determining the adjustments to implement the first optimal course

determining if adjustments are needed to position the first slave vehicle at the desired position; and

implementing the adjustments if adjustments are needed.

2. The method as claimed in claim 1, further comprising the step of:

determining if the first optimal course is different than a current first slave vehicle course; and

the step of determining if adjustments are needed including determining the adjustments to be made to the current first slave vehicle course to implement the first optimal course.

3. The method as claimed in claim 2, further comprising the step of:

determining a first pseudo destination point based on the location of the master vehicle; and

the step of determining the first optimal course including utilizing the first pseudo destination point in determining at least lateral adjustments.

4. The method as claimed in claim 1, wherein:

the step of receiving the location of the master vehicle including receiving the location of the master vehicle at least periodically;

the step of receiving the location of the first slave vehicle including receiving the location of the first slave vehicle at least periodically; and

the step of determining the first optimal course including redetermining the first optimal course each time the first slave vehicle receives one of the periodic locations of the master vehicle.

5. The method as claimed in claim 4, wherein:

the step of receiving the location of the master vehicle including continuously receiving the location of the master vehicle; and

the step of determining the first optimal course including continuously adjusting the first optimal course based on the location of the master vehicle and the location of the first slave vehicle.

6. The method as claimed in claim 1, further comprising the steps of:

a second slave vehicle;

receiving the location of the master vehicle;

determining a second destination point relative to the location of the master vehicle;

receiving a location of the second slave vehicle;

determining a second optimal course needed to position the second slave vehicle at the second destination point; and

making adjustments to implement the second optimal course if adjustments are needed.

7. The method as claimed in claim 1, further comprising the steps of:

a second slave vehicle;

receiving the location of the first slave vehicle;

receiving a location of the second slave vehicle;

determining a desired position of the second slave vehicle based on the first slave vehicle location;

determining if adjustments are needed to position the second slave vehicle at the desired position; and

implementing the adjustments if adjustments are needed.

8. The method as claimed in claim 7, further comprising the steps of:

the step of determining the desired position including determining a second destination point relative to the location of the first slave vehicle;

the step of determining if adjustments are needed including determining a second optimal course needed to position the second slave vehicle at the second destination point; and

making adjustments to implement the second optimal course if adjustments are needed.

9. A computer program product for providing application processing, the computer program product including a computer readable storage medium and a computer program mechanism embedded therein, the computer program mechanism comprising:

a method for providing vehicle navigation as in claim 1.

10. A method for providing navigation for at least a first slave vehicle, wherein the first slave vehicle navigates based on a location of a master vehicle, the method comprising the steps of:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle;

determining a desired position of the first slave vehicle based on the master vehicle location including determining a first fixed point relative to the master vehicle location;

determining if adjustments are needed to position the first slave vehicle at the desired position including determining if the first slave vehicle is located at the first fixed point; and

implementing the adjustments if adjustments are needed.

11. The method as claimed in claim 10, further comprising the steps of:

determining a trajectory of the master vehicle;

determining a trajectory of the first slave vehicle; and

the step of determining if adjustments are needed including determining if the trajectory of the first slave vehicle is parallel with the trajectory of the master vehicle.

12. The method as claimed in claim 11, further comprising the step of:

receiving control parameters from the master vehicle, wherein the control parameters include adjustments to the master vehicle affecting the trajectory of the master vehicle; and

the step of determining a trajectory of the master vehicle including utilizing the control parameters.

13. The method as claimed in claim 12, wherein:

the control parameters including steering commands.

14. The method as claimed in claim 12, wherein:

the step of implementing adjustments such that the first slave vehicle maintains a position at the fixed position even while the master vehicle implements turns.

15. The method as claimed in claim 10, further comprising:

a second vehicle;

receiving the location of the master vehicle;

receiving a location of the second slave vehicle;

determining a desired position of the second slave vehicle based on the master vehicle location including;

determining a second fixed point relative to the master vehicle location;

determining a trajectory of the master vehicle;

determining a trajectory of the second slave vehicle;

determining if adjustments are needed to position the second slave vehicle at the second fixed point including determining if the trajectory of the second slave vehicle is parallel with the trajectory of the master vehicle; and

implementing the adjustments if adjustments are needed.

16. The method as claimed in claim 10, further comprising:

a second vehicle;

receiving the location of the first vehicle;

receiving a location of the second slave vehicle;

determining a desired position of the second slave vehicle based on the first slave vehicle location including;

determining a second fixed point relative to the first slave vehicle location;

determining a trajectory of the first slave vehicle;

determining a trajectory of the second slave vehicle;

determining if adjustments are needed to position the second slave vehicle at the second fixed point including determining if the trajectory of the second slave vehicle is parallel with the trajectory of the first slave vehicle; and

implementing the adjustments if adjustments are needed.

17. A computer progam product for providing application processing, the computer program product including a computer readable storage medium and a computer program mechanism embedded therein, the computer program mechanism comprising:

a method for providing vehicle navigation as in claim 10.

18. A method for providing navigation for at least a first slave vehicle, wherein the first slave vehicle navigates based on a location of a master vehicle, the method comprising the steps of:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle;

determining a desired position of the first slave vehicle based on the master vehicle location including

receiving at least a first portion of a master vehicle path;

receiving at least a first portion of a master vehicle path;

generating at least a first portion of a first slave vehicle path based on the at least the first portion of the master vehicle path;

determining if adjustments are needed in maintaining the first slave vehicle on the first slave vehicle path;

determining if adjustments are needed in maintaining the first slave vehicle on the first slave vehicle path and/or to position the first slave vehicle at the desired position; and

implementing the adjustments if adjustments are needed.

19. The method as claimed in claim 18, wherein:

the step of generating at least the first portion of the first slave vehicle path including generating the at least the first portion of the first slave vehicle path by offsetting the at least the first portion of the master vehicle path by an offset.

20. The method as claimed in claim 19, wherein:

the step of determining if adjustments are needed including comparing the location of the first slave vehicle with the first slave vehicle path;

determining if the first slave vehicle is off of the first slave vehicle path; and

determining a trajectory to return the first slave vehicle to the first slave vehicle path if the first slave vehicle is off of the first slave vehicle path.

21. The method as claimed in claim 19, wherein:

the step of determining if any adjustments are needed including comparing the location of the first slave vehicle with the first slave vehicle path; and

the step of determining adjustments including determining what steering adjustments are needed to make turns to follow the first slave path.

22. The method as claimed in claim 21, wherein:

the step of determining adjustments including calculating the distance between the location of the first slave vehicle and approaching adjustments to a current trajectory of the first slave vehicle to continue on the first slave vehicle path.

23. The method as claimed in claim 19, further comprising the steps of:

receiving at least a second portion of the master path; and

generating at least a second portion of the first slave vehicle path.

24. The method as claimed in claim 18, wherein:

the first slave vehicle is the master slave vehicle.

25. The method as claimed in claim 18, further comprising the steps of:

a second slave vehicle;

receiving at least the first portion of the master vehicle path;

generating at least a first portion of a second slave vehicle path based on the at least the first portion of the master vehicle path;

receiving a location of the second slave vehicle;

determining if adjustments are needed in maintaining the second slave vehicle on the second slave vehicle path; and

implementing the adjustments if adjustments are needed.

26. The method as claimed in claim 25, wherein:

the first and second slave vehicles are both different vehicles than the master vehicle.

27. The method as claimed in claim 25, wherein:

at least one of the first and second slave vehicles is the master vehicle.

28. The method as claimed in claim 18, further comprising the steps of:

a second slave vehicle;

receiving at least the first portion of the first slave vehicle path;

generating at least a first portion of a second slave vehicle path based on the at least the first portion of the first slave vehicle path received;

receiving a location of the second slave vehicle;

determining if adjustments are needed in maintaining the second slave vehicle on the second slave vehicle path;

implementing the adjustments if adjustments are needed.

51. A computer program product for providing application processing, the computer program including a computer readable storage medium and a computer program mechanism embedded therein, the computer mechanism comprising:

a method for providing vehicle navigation as in claim 18.

29. A method for vehicle navigation, comprising the steps of:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle, including receiving at least a portion of master vehicle path;

determining a desired location of the first slave vehicle, including

determining at least a portion of a first slave path relative to the at least the portion of the master vehicle path, wherein the desired location is relative to the master vehicle location and wherein the first slave path is offset from the master vehicle path;

determining adjustments to be made by the first slave vehicle to reach the desired location; and

implementing the adjustments.

30. The method as claimed in claim 29, further comprising the steps of:

a second slave vehicle determining at least a portion of a second slave path based on the at least the portion of the first slave path; and

the second slave vehicle following the second slave path.

52. A computer program product for providing application processing, the computer program product including a computer readable storage medium and a computer program mechanism embedded therein, the computer program mechanism comprising:

a method for providing vehicle navigation as in claim 30.

31. A method for vehicle navigation, comprising the steps of:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle;

determining a desired location of the first slave vehicle, including

determining a first slave vehicle desired destination point offset from the location of the master vehicle, wherein the desired location is relative to the master vehicle location;

determining adjustments to be made by the first slave vehicle to reach the desired location; and

implementing the adjustments.

32. The method as claimed in claim 31, further comprising the steps of:

the step of determining adjustments including determining an optimal course in which to acquire the first vehicle desired destination point.

33. The method as claimed in claim 32, wherein:

the step of determining the optimal course wherein the optimal course is not limited to the master vehicle course.

34. The method as claimed in claim 32, wherein:

the step of determining the optimal course including adjusting the optimal course based on boundaries.

35. The method as claimed in claim 31, wherein:

the step of determining adjustments including utilizing a pseudo destination point for at least determining adjustments for lateral control.

53. A computer program product for providing application processing, the computer program product including a computer readable storage medium and a computer program mechanism embedded therein, the computer program mechanism comprising:

a method for providing vehicle navigation as in claim 32.

36. A method for vehicle navigation, comprising the steps of:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle;

receiving first offset coordinates;

determining a desired location of the first slave vehicle, including

determining a first fixed point based on the location of the master vehicle and the first offset coordinates, wherein the desired location is relative to the master vehicle location;

determining adjustments to be made by the first slave vehicle to reach the desired location; and

implementing the adjustments.

37. The method as claimed in claim 36, further comprising the steps of:

receiving master vehicle parameters;

the step of determining adjustments including determining a trajectory of the master vehicle;

determining a trajectory of the first slave vehicle; and

determining the adjustments such that the trajectory of the first slave vehicle is in parallel with the trajectory of the master vehicle.

38. The method as claimed in claim 37, wherein:

the step of determining the trajectory of the first slave vehicle including determining a heading of the first slave vehicle and extending a trajectory from the location of the first slave vehicle to infinity along the heading.

39. A computer program product for providing application processing, the computer program product including a computer readable storage medium and a computer program mechanism embedded therein, the computer program mechanism comprising:

a method for providing vehicle navigation as in claim 36.

40. A method for vehicle navigation, comprising the steps of:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle;

receiving first offset coordinates;

determining a desired location of the first slave vehicle, including

determining a first fixed point based on the location of the master vehicle and the first offset coordinates, wherein the desired location is relative to the master vehicle location;

determining adjustments to be made by the first slave vehicle to reach the desired location;

implementing the adjustments; and

a second slave vehicle;

receiving second offset coordinates;

receiving the location of the master vehicle;

receiving a location of the second slave vehicle;

determining a desired location of the second slave vehicle, wherein the desired location is relative to the master vehicle location;

determining adjustments to be made by the second slave vehicle to position the second slave vehicle at the desired location; and

implementing the adjustments.

41. A computer program product for providing application processing, the computer program product including a computer readable storage medium and a computer program mechanism embedded therein, the computer program mechanism comprising:

a method for providing vehicle navigation as in claim 40.

42. A first slave vehicle including an apparatus for navigating the first slave vehicle, comprising:

a means for receiving a location of a master vehicle and a location of a first slave vehicle;

a means for determining a desired position of the first slave vehicle based on the master vehicle location where the means for determining the desired position couples with the means for receiving, the means for determining a desired position including a means for determining a desired destination point relative to the master vehicle location;

a means for determining if adjustments are needed to position the first slave vehicle at the desired position couples with the means for determining the desired position and the means for receiving the location of the slave vehicle, the means for determining if adjustments are needed including a means for determining an optimal course to acquire the desired destination point, wherein the optimal course is not limited to a master vehicle course; and

a means for implementing the adjustments if adjustments are needed coupled with the means for determining if adjustments are needed.

43. The apparatus as claimed in claim 42, wherein:

the means for determining the desired position including a means for determining a fixed point relative to the master vehicle;

the means for determining if adjustments are needed including a means for determining a trajectory of the master vehicle and a trajectory of the slave vehicle; and

the means for implementing the adjustments including a means for maintaining the trajectory of the slave vehicle in parallel with the trajectory of the master vehicle.

44. A first slave vehicle including an apparatus for navigating the first slave vehicle, comprising:

a means for receiving a location of a master vehicle and a location of a first slave vehicle;

a means for determining a desired position of the first slave vehicle based on the master vehicle location where the means for determining the desired position couples with the means for receiving, the means for determining the desired position including a means for determining a master vehicle path coupled with a means for determining a first slave vehicle path;

a means for determining if adjustments are needed to position the first slave vehicle at the desired position couples with the means for determining the desired position and the means for receiving the location of the slave vehicle, the means for determining if adjustments are needed including a means for comparing the slave vehicle location with the slave vehicle path coupled with both the means for receiving the location of the slave vehicle and the means for determining the slave vehicle path; and

a means for implementing the adjustments if adjustments are needed coupled with the means for determining of adjustments are needed.

45. An apparatus for providing vehicle navigation, comprising:

a communication controller configured to at least receive location information for at least a master vehicle and a slave vehicle;

a location generator coupled with the communication controller, and configured to determine locations of at least the master vehicle relative to the position of the slave vehicle; and

a trajectory controller configured to control the trajectory of the slave vehicle coupled with the location generator, and configured to determine a desired location of the slave vehicle relative to the location information of both the master vehicle and the slave vehicle and further including a destination point calculator configured to determine a desired destination point relative to the master vehicle.

46. The apparatus as claimed in claim 45, further comprising:

a course calculator coupled with the destination point calculator, and configured to determine an optimal course such that the slave vehicle acquires the desired destination point.

47. The apparatus as claimed in claim 45, wherein:

the trajectory controller is a path controller configured to generate at least a slave vehicle path such that the slave vehicle follows the slave path.

48. The computer readable medium containing instructions, which, when executed by a at least a first processor performs the following steps:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle;

determining a desired location of the first slave relative to the master vehicle location including determining a desired destination point;

determining adjustments to be made by the first slave vehicle such that the first slave vehicle positions itself at the desired location including determining an optimal course to acquire the desired destination point; and

implementing the adjustments.

49. A computer readable medium containing instructions, which, when executed by at least a first processor performs the following steps:

a first slave vehicle;

receiving a location of a master vehicle;

receiving a location of the first slave vehicle;

determining a desired location of the first slave vehicle relative to the master vehicle location including determining a fixed point relative to the location of the master vehicle;

determining adjustments to be made by the first slave vehicle such that the first slave vehicle positions itself at the desired location including determining a trajectory of both the master vehicle and the slave vehicle and further determining if the slave vehicle trajectory is parallel with the master vehicle trajectroy; and

implementing the adjustments.

50. The computer readable medium containing instructions, which, when executed by a at least a first processor performs the following steps:

a first slave vehicle;

receiving a location of a master vehicle including receiving at least a portion of a master vehicle path;

receiving a location of the first slave vehicle;

determining a desired location of the first slave vehicle relative to the master vehicle location including generating at least a portion of a slave vehicle path based on the at least a portion of the master vehicle path;

determining adjustments to be made by the first slave vehicle such that the first slave vehicle positions itself at the desired location including determining if the slave vehicle location is included within the slave vehicle path; and

implementing the adjustments.