Autonomous Convoy Guidance via Relative Positioning
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Solution Overview
Problem
Autonomous vehicle convoy guidance in hostile environments is hindered by reliance on satellite guidance, detailed digital maps, and pre-positioned markers, which are unreliable due to terrain challenges and enemy interference, making it difficult to maintain accurate trajectory without human supervision.
Innovation Solution
A method where the guide vehicle calculates its trajectory based on past data and odometry, and sends this information to autonomous follower vehicles via communication links, allowing them to maintain convoy position without constant human supervision by using relative position data from onboard sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If satellite guidance systems are used for autonomous vehicle navigation, then positioning accuracy is improved, but reliability deteriorates due to enemy jamming and terrain blockage
Solution Approach 1:
The patent introduces an intermediary relative positioning system that measures distances between vehicles using onboard sensors (LIDAR, ultrasonic, infrared) rather than relying directly on satellite signals. This intermediary measurement method bypasses the vulnerable satellite guidance layer, allowing vehicles to maintain formation through peer-to-peer distance measurement that cannot be jammed or blocked by terrain.
2Measurement precision
If detailed digital maps are used for trajectory calculation, then navigation precision is improved, but ease of operation deteriorates due to difficulty in obtaining and maintaining maps in remote areas
Solution Approach 1:
The patent extracts the essential navigation function from complex digital maps and satellite systems, reducing it to simple relative distance measurements between vehicles. Instead of requiring complete terrain maps, the system only needs to measure distances to neighboring vehicles, which are continuously available through onboard sensors. This extraction eliminates the burden of map acquisition and maintenance while preserving formation accuracy.
Solution Approach 2:
The system makes the convoy self-sufficient by having each vehicle continuously measure distances to its neighbors and autonomously calculate its own trajectory. No external mapping services or manual map updates are needed - the vehicles service their own navigation needs using onboard sensors and mutual cooperation, making the system adaptable to any terrain without pre-existing maps.
3Measurement precision
If pre-positioned markers are used for guidance, then trajectory accuracy is improved, but ease of manufacture deteriorates due to inability to place markers in hostile environments
Solution Approach 1:
The system eliminates the need for external marker deployment by making each vehicle its own reference point. Vehicles continuously measure distances to neighbors and self-correct their positions in real-time, eliminating the static pre-positioned markers that would need to be manually placed in hostile environments. The guidance infrastructure is distributed across the vehicles themselves rather than requiring external setup.
4Device complexity
If autonomous vehicles follow only the guide vehicle trajectory, then device complexity is reduced, but reliability deteriorates due to cumulative trajectory errors
Solution Approach 1:
The patent segments the guidance system into multiple independent measurement channels - each vehicle measures distances to multiple neighbors rather than relying on a single guide vehicle trajectory. This segmentation creates redundant measurement paths that prevent error propagation, as each vehicle can cross-validate its position through multiple independent distance measurements to different neighbors in the formation.
Data Source
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AI summary
This method for guiding an autonomous vehicle includes steps consisting of: - acquiring (104), by an autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) forming part of a convoy (C) of vehicles, trajectory data of a guide vehicle (VG) of the convoy (C); - measuring (106), by sensors (16) of said autonomous vehicle, relative position data of said vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) with respect to at least one of the other vehicles of the convoy preceding said vehicle; - calculating (108), by an electronic processing unit (12), a target trajectory (T) as a function of the acquired trajectory data and the relative position data measured by said autonomous vehicle; - command (110, 112) the autonomous vehicle (VS1, VS2, VS3, VS4, VS5, VS6, VS7) to follow the calculated target trajectory.