Invention Application
- Patent Title: TECHNIQUES FOR MAINTAINING OFFSETS IN VEHICLE FORMATIONS
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Application No.: US17137199Application Date: 2020-12-29
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Publication No.: US20220204051A1Publication Date: 2022-06-30
- Inventor: Joshua Rands , Justin Creaby , Brandon Sights , Scott Shambaugh
- Applicant: Trimble Inc.
- Applicant Address: US CA Sunnyvale
- Assignee: Trimble Inc.
- Current Assignee: Trimble Inc.
- Current Assignee Address: US CA Sunnyvale
- Main IPC: B60W60/00
- IPC: B60W60/00

Abstract:
A method of maintaining vehicle formation includes receiving a desired cross track offset distance and a desired along track offset distance between a lead vehicle and a follower vehicle; receiving a current position, a current yaw rate, and a current speed of the lead vehicle; determining a current turn radius of the lead vehicle based on the current yaw rate and the current speed of the lead vehicle; determining a projected turn radius of the follower vehicle based on the current turn radius of the lead vehicle, the desired cross track offset distance, and the desired along track offset distance; determining a commanded curvature and a next speed of the follower vehicle based on a current position of the follower vehicle and the projected turn radius of the follower vehicle; and outputting the next speed and the commanded curvature to a control system of the follower vehicle.
Public/Granted literature
- US11787445B2 Techniques for maintaining offsets in vehicle formations Public/Granted day:2023-10-17
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