Follower Vehicle Tether Control for GPS-Denied Convoy Navigation
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Solution Overview
Problem
Existing vehicle convoy systems face limitations in urban areas and high-speed operations due to GPS line-of-sight requirements, magnetic marker dependency, and cumbersome camera-based systems, which hinder efficient navigation and spacing control between leader and follower vehicles.
Innovation Solution
A vehicle control system utilizing a tether system with length and angle sensors to determine the path traveled by the leader, allowing the follower vehicle to autonomously follow and maintain a predetermined spacing without direct communication or line-of-sight, enabling operation in various environments and directions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If GPS systems are used for position information, then position tracking is achieved, but line-of-sight to satellites is required which limits use in urban areas and tunnels
Solution Approach 1:
The patent introduces magnetic markers as intermediary objects placed in the environment to mediate between the follower vehicle's sensors and the leader vehicle's position. Instead of directly tracking the leader vehicle or using satellite signals, the follower detects magnetic field distortions caused by markers, enabling indirect position tracking that works in GPS-denied environments.
Solution Approach 2:
The patent replaces the optical/electromagnetic GPS satellite communication system with a magnetic field-based detection system. By substituting satellite signal reception with magnetic marker detection, the system achieves position tracking functionality that is not constrained by line-of-sight requirements or satellite availability.
2Measurement precision
If camera-based systems are used to track the leader vehicle, then visual tracking is achieved, but the data received is too large and cumbersome for high-speed operation
Solution Approach 1:
The patent extracts only the essential position information from the tracking task by using small, discrete magnetic markers instead of comprehensive camera imaging. This extraction approach captures only the necessary data (marker position and orientation) while eliminating the overwhelming amount of unnecessary visual data that would require complex processing.
Solution Approach 2:
The patent uses simple, inexpensive magnetic markers as temporary reference objects along the path. These markers provide fleeting but sufficient position information as the vehicles pass them, eliminating the need for complex continuous tracking systems like cameras that must process large amounts of data in real-time.
3Measurement precision
If camera-based systems are used, then the leader vehicle can be tracked visually, but the leader must always be in the line of sight of the camera
Solution Approach 1:
The patent introduces magnetic markers as intermediary reference points that are fixed in the environment and do not require the leader vehicle to be visible. The follower vehicle tracks its position by detecting these markers rather than by visually tracking the leader, eliminating the line-of-sight constraint while maintaining accurate position information.
4Ease of operation
If magnetic markers are used for path guidance, then path following is achieved, but the system can only be used where magnetic markers are present
Solution Approach 1:
The patent enhances the versatility of magnetic markers by making them applicable to both indoor and outdoor environments, and to both低速 and high-speed operations. The same magnetic marker infrastructure supports various convoy scenarios including leader-follower tracking, path following, and position reference, eliminating the need for different systems in different contexts.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
The system provides efficient and autonomous navigation for follower vehicles, allowing them to follow leaders in complex environments and reverse directions without requiring communication or line-of-sight, enhancing convoy efficiency and flexibility.
Implementation Method 1
A length sensor operatively associated with the tether senses a length of the tether extending between the follower vehicle and the leader
Implementation Method 2
An angle sensor operatively associated with the tether senses an angle between the tether and the follower vehicle
Data Source
AI summary
A vehicle control system for causing a follower vehicle to follow a leader may have a tether system mounted to the follower vehicle. The tether system may include a tether having an end adapted to be attached to the leader, a length sensor, and an angle sensor. A path tracking system operatively associated with the tether system determines a path traveled by the leader. A path control system operatively associated with the path tracking system and the follower vehicle causes the follower vehicle to follow the path traveled by the leader. A spacing control system operatively associated with the path tracking system and the follower vehicle causes the follower vehicle to maintain a predetermined spacing between the follower vehicle and the leader.