Method and system for coordinated vehicle control with wireless communication
First Claim
1. A method for controlling a stopping trajectory for a pair of vehicles traversing a respective pair of overall trajectories, using a control system including an onboard computer and a wireless communication device disposed on each vehicle, and a vehicle location tracking system, said method comprising the steps of:
- specifying for each overall trajectory of the pair of overall trajectories, a plurality of successive waypoints along the overall trajectory, a safe stopping interval and an intermediate interval greater than the safe stopping interval;
exchanging through the wireless communication device a forecasted trajectory associated with each vehicle to the other vehicle of the pair of vehicles, the forecasted trajectory comprising a subset of the associated overall trajectory;
controlling in coordination the relative motion of each vehicle of the pair of vehicles along the respective forecasted trajectory;
for each forecasted trajectory, determining the distance from the associated vehicle to an end of the safe stopping interval;
updating a position of the vehicles periodically;
sequentially updating the forecasted trajectory with additional waypoints in response to the respective vehicles bypassing waypoints of the forecasted trajectory;
in response to sensing a reduction in a rate of exchanging additional waypoints, determining a remainder length of the forecasted trajectory and comparing the remainder length to the intermediate interval and the safe stopping interval; and
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continuing to traverse the forecasted trajectory in response to the remainder length being greater than the intermediate interval;
generating a warning signal in response to the remainder length being less than or equal to the intermediate interval and greater than the safe stopping interval; and
gradually controlling the associated vehicle to a stop within the safe stopping interval in response to the remainder length being less than or equal to the safe stopping interval.
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Accused Products
Abstract
A control system controls a pair of vehicles in coordination to traverse a respective pair of trajectories. The control system is configured to specify a plurality of successive waypoints, a safe stopping interval and an intermediate interval greater than the safe stopping interval, and exchange waypoints between vehicles. The system controls each vehicle in coordination with the other, senses a rate of exchange of waypoint data between the vehicles, and determines the safe stopping interval. The control system updates positions with additional waypoints as the respective vehicles pass by waypoints of the forecasted trajectory, determines the length of the forecasted trajectory remaining and compares it with the intermediate interval and the safe stopping interval. The system generates a warning signal if distance is less than the intermediate interval, and if the distance is less than the safe stopping interval, stops within the safe stopping interval.
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Citations
8 Claims
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1. A method for controlling a stopping trajectory for a pair of vehicles traversing a respective pair of overall trajectories, using a control system including an onboard computer and a wireless communication device disposed on each vehicle, and a vehicle location tracking system, said method comprising the steps of:
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specifying for each overall trajectory of the pair of overall trajectories, a plurality of successive waypoints along the overall trajectory, a safe stopping interval and an intermediate interval greater than the safe stopping interval; exchanging through the wireless communication device a forecasted trajectory associated with each vehicle to the other vehicle of the pair of vehicles, the forecasted trajectory comprising a subset of the associated overall trajectory; controlling in coordination the relative motion of each vehicle of the pair of vehicles along the respective forecasted trajectory; for each forecasted trajectory, determining the distance from the associated vehicle to an end of the safe stopping interval; updating a position of the vehicles periodically; sequentially updating the forecasted trajectory with additional waypoints in response to the respective vehicles bypassing waypoints of the forecasted trajectory; in response to sensing a reduction in a rate of exchanging additional waypoints, determining a remainder length of the forecasted trajectory and comparing the remainder length to the intermediate interval and the safe stopping interval; and
;continuing to traverse the forecasted trajectory in response to the remainder length being greater than the intermediate interval; generating a warning signal in response to the remainder length being less than or equal to the intermediate interval and greater than the safe stopping interval; and gradually controlling the associated vehicle to a stop within the safe stopping interval in response to the remainder length being less than or equal to the safe stopping interval. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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Specification