Dynamic Zone Vehicle Formation Control
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Solution Overview
Problem
Maintaining vehicle formation, especially on curved paths or turns, is challenging due to the tradeoff between maintaining formation and following at a safe speed, with existing techniques often failing to synchronize task completion and ensure precise offsets between lead and follower vehicles.
Innovation Solution
A method that involves defining a dynamic zone around the lead vehicle with a radius equal to the desired formation distance, determining the next speed and commanded curvature of the follower vehicle based on its position relative to the dynamic zone and the lead vehicle's path, and outputting these parameters to the follower vehicle's control system for navigation, allowing it to maintain the desired formation distance and offset while adjusting speed and curvature accordingly.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Stability of the object's composition
If the follower vehicle maintains a fixed formation distance from the lead vehicle, then the formation stability is improved, but the follower vehicle cannot adapt to curved paths or turns effectively
Solution Approach 1:
The patent applies dynamics by making the formation distance variable rather than fixed. The system dynamically adjusts the formation distance based on the lead vehicle's curvature and speed, allowing the follower vehicle to adapt to curved paths while maintaining stable formation through continuous adjustment rather than rigid fixation.
Solution Approach 2:
The system changes the parameter of formation distance from a constant value to a variable that depends on lead vehicle dynamics. By calculating adjusted formation distance based on curvature and speed parameters, the system enables the follower to adapt to turns while maintaining overall formation stability through controlled parameter variation.
2Reliability
If the follower vehicle follows the lead vehicle at a safe speed, then the safety is improved, but the formation distance may vary and task completion synchronization deteriorates
Solution Approach 1:
The system dynamically adjusts the formation distance parameter based on the lead vehicle's speed and curvature. When the lead vehicle slows down for turns or obstacles, the formation distance is reduced proportionally, allowing the follower to maintain safe following distance while minimizing formation variation and keeping task completion synchronized.
Solution Approach 2:
The system uses feedback from the lead vehicle's speed and curvature measurements to continuously adjust the formation distance. This feedback mechanism ensures that the follower maintains an appropriate safe distance while adapting to changing conditions, thereby preserving both safety and formation precision simultaneously.
3Reliability
If the follower vehicle maintains a large offset from the lead vehicle, then the safety margin is improved, but the coordination for task completion deteriorates
Solution Approach 1:
The system dynamically adjusts the offset parameter based on operational context. During straight-line operations, a larger offset is maintained for safety, while during turns or coordinated tasks, the offset is reduced to improve coordination. This variable offset approach allows the system to optimize both safety margin and task completion coordination depending on the situation.
Data Source
AI summary
A method of maintaining vehicle formation includes receiving a desired formation distance between a lead vehicle and a follower vehicle; receiving a pre-planned path for the follower vehicle; and defining a dynamic zone around a current position of the lead vehicle. The dynamic zone has a boundary characterized by a first radius from the current position of the lead vehicle. The first radius can be substantially equal to the desired formation distance. The method further includes determining a next speed of the follower vehicle based on a current position of the follower vehicle with respect to the boundary of the dynamic zone; determining a commanded curvature of the follower vehicle based on the current position of the follower vehicle with respect to the pre-planned path; and outputting the next speed and the commanded curvature to a control system of the follower vehicle for navigation of the follower vehicle.