Active cross path position correlation device

A process for controlling cross-track and along-track motion of a follower vehicle along a predefined path, comprising the steps of:

• a) generating a first side range profile that represents distances between a lead vehicle and objects to a side of the lead vehicle, measured laterally from the predefined path, at various points along the predetermined path;
• b) providing the follower vehicle with the first side range profile;
• c) gathering data to generate a second side range profile that represents distances between the follower vehicle and the objects to a corresponding side of the follower vehicle at various points along the predefined path;
• d) correlating the first and second side range profiles to determine a position of the follower vehicle on the predefined path;
• e) generating error signals that represent an amount by which the follower vehicle has drifted from the predefined path;
• and
• f) outputting correction signals to control the side-track and along-track motion of the follower vehicle and to maintain the follower vehicle on the predefined path.

A system for controlling a vehicle based upon data that represents first and second side range profiles along a predefined path, comprising:

• a) generation means for gathering data and for generating the first and second side range profiles, comprising:
• i) first profile generation means for generating the first side range profile representing first distances between the vehicle and objects to a side of the vehicle, measured laterally from the predefined path, at various points along the predefined path during a first traversal of the predefined path;
• ii) recording means for storing the first side range profile in a storage medium on board the vehicle;
• and
• iii) second profile generation means for generating the second side range profile representing second distances between the vehicle and the objects to a corresponding side of the vehicle at various points along the predefined path during a second traversal of the predefined path;
• b) correlation means for retrieving the first side range profile from the storage medium, for correlating the first side range profile with the second side range profile, and for determining therefrom a location of the vehicle along the predefined path;
• and
• c) control means for controlling the vehicle in response to the correlation means such that during the second traversal of the predetermined path the vehicle does not require a human operator.