Follower Vehicle Control Mimic for Reduced Latency
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Solution Overview
Problem
Current close leader-follower systems experience delays in responding to changes in speed and bearing of the leader vehicle, resulting in poor performance and requiring large follow distances, which are not acceptable for many applications.
Innovation Solution
A method involving three control loops in the follower vehicle to monitor and adjust bearing and acceleration control inputs based on data from the leader vehicle, with the first loop having the lowest latency for immediate mimicry, the second loop adjusting for velocity deviations, and the third loop correcting for follow distance and lateral offset deviations, allowing for close following without sacrificing vehicle speed.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the follower vehicle uses conventional sensing and communication to detect leader vehicle changes, then the system can maintain basic follower functionality, but the response delay causes poor performance and requires large follow distances
Solution Approach 1:
The follower vehicle receives and processes leader control status signals (throttle, brake, steering inputs) in advance, before the leader actually executes the maneuver. This allows the follower to prepare and execute corresponding control actions simultaneously with the leader, eliminating the traditional sense-respond-delay cycle and achieving synchronized maneuvering without requiring large follow distances
Solution Approach 2:
The system implements a feedback mechanism where the follower vehicle continuously monitors leader control status signals and adjusts its own control inputs based on this information. The feedback loop processes leader control actions in real-time and automatically generates corresponding follower control commands, ensuring the follower maintains accurate synchronization with the leader while operating at close distances
2Reliability
If the follow distance is increased to accommodate response delays, then the follower can maintain proper spacing, but the maximum follow distance becomes unacceptably large for many applications
Solution Approach 1:
By receiving and processing leader control status signals in advance, the follower vehicle can execute control actions simultaneously with the leader rather than after a delay. This preliminary processing of control information eliminates the need for large safety distances, enabling close-follower operation while maintaining reliable tracking performance
Solution Approach 2:
The follower vehicle creates a copy of the leader's control status signals (throttle, brake, steering inputs) and executes corresponding control actions based on this copied information. This copying approach allows the follower to precisely replicate the leader's maneuvers without requiring extended follow distances, achieving both close proximity and reliable tracking
3Ease of operation
If the follower vehicle reacts one second or more after leader input changes, then the vehicle's reaction time is sufficient for mechanical response, but the overall system latency prevents close following
Solution Approach 1:
The follower vehicle performs preliminary processing of leader control status signals, receiving and analyzing throttle, brake, and steering input data before the leader executes the maneuver. This advance processing compensates for mechanical reaction times, allowing the follower to execute control actions simultaneously with the leader and eliminate overall system latency
Solution Approach 2:
The system replaces traditional mechanical sensing and response mechanisms with electronic signal processing. Instead of relying on physical sensors to detect leader maneuvers and mechanical systems to respond, the follower directly receives electronic control status signals from the leader and executes corresponding electronic control commands, dramatically reducing total system latency
Data Source
AI summary
A method is provided for automatically controlling a first vehicle (follower vehicle) that is to follow a second vehicle (leader vehicle) in a desired manner with respect to movement of the second vehicle. In the follower vehicle, bearing and acceleration control inputs are generated based on data representing bearing and acceleration control inputs made at the leader vehicle and a position of the follower vehicle relative to the leader vehicle so as to mimic in the follower vehicle the bearing and acceleration control inputs made in the leader vehicle. Adjustments may be made to the control inputs applied in the follower vehicle based on deviation between the velocity of the follower vehicle and velocity of the leader velocity, and on deviation between estimated (actual) follow distance and lateral offset and target follow distance and lateral offset between the follower vehicle and the leader vehicle.