Behaviors that reduce demand on autonomous follower vehicles
Methods and apparatus that reduce demands on behavior of autonomous vehicles operating in a convoy, such as lane following or leader swap. A follower vehicle receives information regarding a path that a leader vehicle has followed. The follower generally follows the leader's path while being free to also observe its own lateral or lane constraints. In particular, lateral control of the follower, that is control of its relative location transverse to the road (e.g., its position relative to travel lanes) may deviate temporarily from the leader's path. This can make it easier for the follower to observe lane discipline, such as by eliminating the tendency, using line-of-sight distance, for the follower to speed up and close a gap to the leader while negotiating a curve.
1. A system for operating a plurality of vehicles in a platoon, the vehicles including a leader and a follower, the system comprising one or more processors, memory, and one or more programs stored in the memory for execution by the one or more processors, the one or more programs including instructions that when executed by the one or more processors cause the system to:
at the follower,
detect a series of positions of the leader along a path (p1, p2, . . . , pn);
control longitudinal positions of the follower such that the follower arrives at the same corresponding longitudinal positions along the path as the leader;
detect attributes of a travel lane currently occupied by the follower;
further control a lateral position of the follower with respect to the travel lane using the detected travel lane attributes without regard to any detected lateral position of the leader along the path unless the follower either is informed of, or detects a condition that, the leader is deviating from its respective travel lane, and if so, then,
in accordance with determining the leader is deviating from its respective travel lane, position, by the follower, itself directly behind the leader such that the follower follows the same path as the leader, including the same lateral position that the leader followed, until the condition is no longer present.
2. The system of claim 1 wherein the one or more processors cause the system to:
detect the series of positions of the leader using one or more sensors.
3. The system of claim 1 wherein the condition further comprises that the leader is avoiding an obstacle.
4. The system of claim 1 wherein the condition is a lane change condition.
5. The system of claim 4 wherein the one or more processors further cause the system to:
at the follower,
detect one or more lane change conditions that the lane change may not be safe to execute at the follower, and then
either
inform the leader that the follower is vetoing the lane change; or
autonomously determine to not change lanes.
6. The system of claim 4 wherein the lane change condition includes one or more of:
whether there are available travel lanes for either the follower, the leader, or both;
whether there is blocking traffic ahead;
whether interfering vehicles or other obstacles are located to a side of the follower, the leader, or both;
whether traffic is from behind;
whether lane markings are visible to the follower's sensors; or
whether the follower's view of the leader is clear or obscured.
7. A system for operating a plurality of vehicles in a platoon, the vehicles including a leader and a follower, the system comprising one or more processors, memory, and one or more programs stored in the memory for execution by the one or more processors, the one or more programs including instructions that when executed by the one or more processors cause the system to:
at the follower,
detect a series of positions of the leader along a path (p1, p2, . . . , pn);
control its own longitudinal positions so as to arrive at the same longitudinal positions along the path as the leader;
detect one or more attributes of a travel lane; and
control its own lateral position within that lane, wherein controlling its own lateral position within the lane comprises:
in accordance with a first condition, using the detected lane attributes to determine an offset within the lane; and
in accordance with a second condition, mimicking a lateral position of the leader within the lane.
8. The system of claim 7 wherein the series of positions represent where a reference point on the leader is relative to the road; and
wherein the one or more processors cause the system to, when the follower reaches a corresponding longitudinal position, at the follower, further ensure a corresponding reference point of the follower is also in the same lateral position as the corresponding reference point of the leader when the leader was at the corresponding longitudinal position.
9. The system of claim 8 wherein the reference point is derived from a model of vehicle geometry of the first leader.
10. The system of claim 8 wherein the reference point is derived from a door to camera relative pose.
11. The system of claim 8 wherein the reference point is other than a point on the rear doors of the leader.
12. The system of claim 8 wherein the reference point is derived from a model of image formation of the leader.
13. The system of claim 8 wherein the reference point is adjusted for wheel slip.
14. The system of claim 7 wherein the follower controls its own longitudinal positions using leader-follower relative pose with adjustable pursuit distance.
15. The system of claim 7 the one or more processors further cause the system to:
decouple a control over distance to pursuit pose from a control over distance to leader.
16. The system of claim 7 wherein the first condition comprises any of lane markings being visible to the follower, the positions of the not leader being detectable, and the leader not executing a lane change; and wherein the second condition comprises any of lane markings not being visible to the follower, and the leader executing a lane change.
17. A method of operating a plurality of vehicles in a platoon, the vehicles including a first leader, a follower, and a second leader, the method comprising:
while the first leader is travelling along a first path:
autonomously following, by the follower, the first leader's path via sensor-based positional tracking of the first leader,
transitioning, by the follower, to following the second leader instead of the first leader, by the further steps of:
while the second leader is travelling within range of one or more of the follower's sensors,
testing, by the follower, for a precondition, and
when the precondition is satisfied, stopping, following, by the follower, the first path of the first leader, and following, by the follower, a second path of the second leader path autonomously via sensor-based positional tracking of the second leader, such that the follower is never alone in a travel lane without having either the first leader or the second leader to track; and
detecting that the first leader moves away from the follower.
18. The method of claim 17 wherein the preconditions tested by the follower may include any or all of:
whether there are multiple available travel lanes for one or more of the first leader, the second leader, or the follower;
whether there is no blocking traffic ahead;
whether there are interfering vehicles to a side of any of the first leader, the second leader, and the follower;
whether there is traffic approaching from behind;
whether lane markings are visible to the follower's sensors;
whether the follower is able to detect a position of either the first leader, the second leader, or both;
an autonomy level of the follower; or
an authorization for the follower to platoon with the second leader.
19. The method of claim 17 additionally wherein transitioning to following the second leader further comprises:
when the follower is following the first leader in a travel lane, and the second leader is moving into an adjacent lane;
then
changing lanes, by the follower, to fall behind the second leader; and
initiating, by the follower, following of the second leader.
20. The method of claim 19 wherein the follower follows either the first leader, the second leader, or both by either detecting lane markings or by tracking the respective first leader or second leader.
21. The method of claim 17 additionally wherein:
when the follower is following the first leader in a travel lane;
the first leader and the follower moving longitudinally to create a gap between them, wherein the gap is sized such that the follower is still able to follow the first leader;
the second leader moving into the gap; and
the follower initiating following of the second leader and stopping following the first leader.
22. The method of claim 17 further comprising: informing, by the follower, the second leader that it is now following the second leader; and informing, by the follower, the first leader that it has stopped following the first leader.
23. The method of claim 17 further comprising: detecting, by the second leader, that the follower is now following the second leader; and detecting, by the first leader, that the follower is no longer following the first leader.
24. The method of claim 17 wherein the precondition is a sensed behavior of the first leader, the second leader, or both.
25. The method of claim 24 wherein the sensed behavior is a signal light.
26. The method of claim 17 wherein the precondition is receipt of information at the follower indicating that the follower should start following the second leader and stop following the first leader.
27. The method of claim 17 additionally comprising:
receiving, by one or more processors, leader state information as to which of the first leader and the second leader is currently leading the follower; and
comparing, by the one or more processors, the received leader state information and other leader state information derived from the follower's sensors; and
informing one or both of the first and second leader of any inconsistency in such state information.
28. The method of claim 17 additionally comprising:
determining a lateral offset from the path of the second leader; and generating a corrective trajectory for the follower that causes the follower to converge onto the path of the second leader.
29. The method of claim 17 , additionally comprising: determining an offset to the path of the follower that depends on either a lane width or a relative position between the follower and the second leader, and wherein the offset is further reduced based on one or both of time or distance travelled by the follower.
30. The method of claim 17 , additionally comprising: entering, by the follower, a lane following mode while the transition to following the second leader is in process.