Method and system for following a lead vehicle
First Claim
1. 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; and
controlling a speed of the following vehicle to maintain at least one of a desired first distance and a desired second distance.
1 Assignment
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Accused Products
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.
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Citations
10 Claims
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1. A method for following of a lead vehicle with a following vehicle, the method comprising:
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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; and controlling a speed of the following vehicle to maintain at least one of a desired first distance and a desired second distance. - View Dependent Claims (2, 3)
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4. A system for following of a lead vehicle with a following vehicle, the system comprising:
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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, 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. - View Dependent Claims (5, 6)
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7. A system for following of a lead vehicle with a following vehicle, the system comprising:
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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, 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. - View Dependent Claims (8, 9)
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10. A method for following of a lead vehicle with a following vehicle, the method comprising:
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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 for straight or a linear path segment and controlling a heading of the following vehicle to maintain the first propagation time that deviates from the second propagation time by a predetermined maximum amount for a curved path or turn.
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Specification