Patent attributes
A method of autonomously convoying vehicles traveling along a route with a leader vehicle being in communication with at least one follower vehicle. The at least one follower vehicle receives a communication relating to a target offset position and route data. Tracking data is generated and derived from on-board sensing devices of the at least one follower vehicle that includes a traveled path of the leader vehicle sensed by the at least one follower vehicle. The route data is compared to the tracking data for identifying accuracy between the route data relative to the tracking data. An adjusted target offset position and a set of trajectory points that provides a trajectory path of travel from a current position of the at least one follower vehicle to the adjusted target offset position are determined based on the accuracy between the route data and the tracking data.
