Patent ID: 6718236
Filing Date: 2004-04-06
Classification: G05D,G08G

Abstract:
A method for conducting a moving vehicle along a trajectory of a coordinated maneuver being executed by the moving vehicle and at least one other moving vehicle, the method comprising the steps of:providing the moving vehicle and the at least one other moving vehicle with a set of coordinated maneuver control parameters, said set of coordinated maneuver control parameters governing the coordinated maneuver; and at the moving vehicle: (a) determining a vehicle state of the moving vehicle from at least one state indicating signal; (b) calculating a projected maneuver for the moving vehicle from said vehicle state; (c) receiving an other-vehicle data set from each of the at least one other moving vehicle, said other-vehicle data set including a vehicle state and a projected maneuver of the corresponding other moving vehicle, said other-vehicle data set being broadcast from said each of the at least one other moving vehicle; (d) calculating a projected coordinated maneuver based upon said projected maneuver of the moving vehicle and said other vehicle data set from each of the at least one other vehicle, said projected coordinated maneuver being constrained by said coordinated maneuver control parameters; (e) adjusting said projected maneuver of the moving vehicle so that a trajectory prescribed thereby is as prescribed by said projected coordinated maneuver; (f) adjusting said vehicle state of the moving vehicle so as to conduct the moving vehicle along said trajectory prescribed by said projected maneuver; (g) broadcasting a vehicle data set of the moving vehicle, said vehicle data set including said vehicle state and said projected maneuver of the moving vehicle; (h) performing an exit procedure if the moving vehicle is to exit the coordinated maneuver; and (i) repeating the method at step (a) if the moving vehicle is to continue participation in the coordinated maneuver.