A Perception-Based Architecture for Autonomous Convoying in GNSS-Denied Areas

Abstract

In this article, we present a perception-based full-stack system for autonomous vehicle following that does not rely on accurate global localization or map data. Our architecture consists of modules for vehicle communication, localization, object tracking, waypoint management, static environment modeling, trajectory planning, and control, which all are covered in the article. To test our system, we conducted several practical experiments in various scenarios on our two autonomous vehicles. Those experiments include the handling of static and dynamic obstacles, driving on- and off-road under different light and weather conditions with distances between the vehicles ranging from 5m to 100m and with speeds of up to 20m/s. Furthermore, we showcased our system’s performance during the 12th European Land Robot Trial 2024, where our institute participated in the convoying scenario. The tests from the trial and our own experiments showed satisfactory results. Our system archives a high path-following accuracy and is able to cope with various challenging scenarios.