Autonomous vehicle operation
First Claim
1. A method for an autonomous vehicle to follow a target, the method comprising:
- obtaining a position and a velocity of a target;
obtaining a first set position and a second set position;
using the first set position and the second set position to determine a fixed particular autonomous vehicle path that includes the first set position and the second set position;
obtaining a position of an autonomous vehicle along the fixed particular autonomous vehicle path;
determining, after determining the fixed particular autonomous vehicle path, a change in the position of the autonomous vehicle along the fixed particular autonomous vehicle path based on the position of an autonomous vehicle and the position of the target, the change maintaining the autonomous vehicle along the fixed particular autonomous vehicle path; and
adjusting a velocity and a direction of the autonomous vehicle to achieve the change in the position of the autonomous vehicle within the fixed particular autonomous vehicle path, the fixed particular autonomous vehicle path being maintained regardless of changes in the position of the target.
4 Assignments
0 Petitions
Accused Products
Abstract
A method for an autonomous vehicle to follow a target is provided. The method may include obtaining a position and a velocity of a target and obtaining a position of an autonomous vehicle. The method may also include obtaining a path that encloses the position of the target and determining a path rate for the autonomous vehicle to move along the path based on the velocity of the target. The method may also include determining a path position along the path based on the position of the autonomous vehicle and determining a change in the position of the autonomous vehicle based on the path position, the path rate, and the velocity of the target. The method may also include adjusting a velocity and a direction of the autonomous vehicle to achieve the change in the position of the autonomous vehicle.
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Citations
20 Claims
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1. A method for an autonomous vehicle to follow a target, the method comprising:
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obtaining a position and a velocity of a target; obtaining a first set position and a second set position; using the first set position and the second set position to determine a fixed particular autonomous vehicle path that includes the first set position and the second set position; obtaining a position of an autonomous vehicle along the fixed particular autonomous vehicle path; determining, after determining the fixed particular autonomous vehicle path, a change in the position of the autonomous vehicle along the fixed particular autonomous vehicle path based on the position of an autonomous vehicle and the position of the target, the change maintaining the autonomous vehicle along the fixed particular autonomous vehicle path; and adjusting a velocity and a direction of the autonomous vehicle to achieve the change in the position of the autonomous vehicle within the fixed particular autonomous vehicle path, the fixed particular autonomous vehicle path being maintained regardless of changes in the position of the target. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A system for following a target, the system comprising:
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a motion tracking device associated with a target, the motion tracking device configured to determine a target position and a target velocity of the target; and an autonomous vehicle configured to follow the target, the autonomous vehicle configured to follow the target by; obtain the target position and the target velocity of the target from the motion tracking device; obtain a particular offset from the target position of the target; obtain a position of the autonomous vehicle; obtain a substantially circular path that encloses the target position of the target and that maintains the substantially circular path having a radius substantially equal to the particular offset and having the target position of the target at an approximate center of the substantially circular path; determining a path rate for the autonomous vehicle to move along the substantially circular path, wherein the path rate is based on the target velocity of the target multiplied by a variable that is reduced as the target velocity of the target increases; determine a change in the position of the autonomous vehicle along the substantially circular path based on the position of the autonomous vehicle within the substantially circular path, the path rate, and the target velocity of the target; and adjust a vehicle velocity and a vehicle direction of the autonomous vehicle to achieve the change in the position of the autonomous vehicle by following the substantially circular path, the vehicle velocity and the vehicle direction of the autonomous vehicle being adjusted so that the autonomous vehicle follows the substantially circular path around the target while the target moves at the target velocity. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A method for an autonomous vehicle to follow a target, the method comprising:
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obtaining a particular positional relationship between a target and an autonomous vehicle; obtaining a target position and a target velocity of the target with respect to a home reference point; obtaining an autonomous vehicle position of the autonomous vehicle with respect to the home reference point; determining a current offset vector based on the target position and the autonomous vehicle position; determining an anticipated target position based on the target velocity and the target position; determining an anticipated offset vector based on the anticipated target position and the particular positional relationship; determining a change in a position of the autonomous vehicle based on the anticipated offset vector and the current offset vector; and adjusting a velocity and a direction of the autonomous vehicle to achieve the change in the position of the autonomous vehicle such that the autonomous vehicle follows the target. - View Dependent Claims (20)
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Specification