公开(公告)号：US20220204051A1

公开(公告)日：2022-06-30

申请号：US17137199

申请日：2020-12-29

Applicant: Trimble Inc.

Inventor： Joshua Rands ,  Justin Creaby ,  Brandon Sights ,  Scott Shambaugh

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.

公开(公告)号：US11787445B2

公开(公告)日：2023-10-17

申请号：US17137199

申请日：2020-12-29

Applicant: Trimble Inc.

Inventor： Joshua Rands ,  Justin Creaby ,  Brandon Sights ,  Scott Shambaugh

IPC: B60W60/00

CPC classification number: B60W60/00272 ,  B60W60/00274 ,  B60W2554/4044 ,  B60W2754/10

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.