Method and system for coordinated vehicle control with wireless communication
First Claim
1. A control system for controlling a pair of vehicles concurrently to traverse a respective pair of trajectories, comprising:
- an onboard computer and a wireless communication device disposed on each vehicle, a vehicle location tracking system;
the computer having software configured to;
specify for each trajectory of the pair of overall trajectories a plurality of successive waypoints, a safe stopping interval and an intermediate interval greater than the safe stopping interval;
exchange 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;
control movement of each vehicle of the pair of vehicles in coordination with one another along the respective forecasted trajectory,sense a rate of exchange of additional waypoints data between the respective vehiclesdetermine for each trajectory the distance from the associated vehicle to an end of the safe stopping intervalupdate a position of the vehicles periodically, and sequentially thereafter update the forecasted trajectory with at least one additional waypoint in response to the respective vehicles traversing at least one waypoint of the forecasted trajectory;
determine a remainder length of the forecasted trajectory and compare the remainder length to the intermediate interval and the safe stopping interval, in response to a sensed reduction in a rate of exchanging additional waypoints, and;
continue traversing the forecasted trajectory in response to the remainder length being greater than the intermediate interval;
generate a warning signal in response to the remainder trajectory length being less than or equal to the intermediate interval and greater than the safe stopping interval; and
control the associated vehicle to a gradual stop within the safe stopping interval in response to the remainder trajectory length being equal to or less than 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.
54 Citations
9 Claims
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1. A control system for controlling a pair of vehicles concurrently to traverse a respective pair of trajectories, comprising:
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an onboard computer and a wireless communication device disposed on each vehicle, a vehicle location tracking system; the computer having software configured to; specify for each trajectory of the pair of overall trajectories a plurality of successive waypoints, a safe stopping interval and an intermediate interval greater than the safe stopping interval; exchange 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; control movement of each vehicle of the pair of vehicles in coordination with one another along the respective forecasted trajectory, sense a rate of exchange of additional waypoints data between the respective vehicles determine for each trajectory the distance from the associated vehicle to an end of the safe stopping interval update a position of the vehicles periodically, and sequentially thereafter update the forecasted trajectory with at least one additional waypoint in response to the respective vehicles traversing at least one waypoint of the forecasted trajectory; determine a remainder length of the forecasted trajectory and compare the remainder length to the intermediate interval and the safe stopping interval, in response to a sensed reduction in a rate of exchanging additional waypoints, and; continue traversing the forecasted trajectory in response to the remainder length being greater than the intermediate interval; generate a warning signal in response to the remainder trajectory length being less than or equal to the intermediate interval and greater than the safe stopping interval; and control the associated vehicle to a gradual stop within the safe stopping interval in response to the remainder trajectory length being equal to or less than the safe stopping interval. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification