Autonomous Driving Deceleration Control for String-Stable Platooning
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Solution Overview
Problem
Autonomous driving vehicles experience traffic congestion and potential collisions due to rapid deceleration in platooning, leading to string instability and unsafe driving conditions.
Innovation Solution
An autonomous driving control apparatus and method that adjusts deceleration limits based on vehicle information from a leading vehicle, using sensors and communication devices to manage deceleration levels through an excessive deceleration limit mode, considering factors like brake and accelerator position signals, time-to-collision, and communication delays, with AI learning for optimal control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If rapid deceleration is applied to maintain safe following distance, then collision prevention is improved, but traffic congestion and string instability worsen
Solution Approach 1:
The patent implements dynamic adjustment of deceleration limits by switching between normal mode and excessive deceleration limit mode based on real-time detection of leading vehicle deceleration. The system dynamically modifies the host vehicle's deceleration characteristics to prevent string instability while maintaining collision avoidance, resolving the contradiction between reliable collision prevention and group stability.
Solution Approach 2:
The system changes the deceleration parameter by introducing an excessive deceleration limit that prevents the host vehicle from decelerating more than the leading vehicle. This parameter modification ensures that deceleration waves do not propagate through the vehicle platoon, thereby preventing string instability while maintaining adequate safety margins.
2Stability of the object's composition
If deceleration limit is increased to reduce traffic congestion, then string stability is improved, but collision risk worsens
Solution Approach 1:
The system continuously monitors the deceleration of the leading vehicle and uses this feedback to adjust the host vehicle's deceleration behavior. By comparing real-time deceleration data and dynamically adjusting the excessive deceleration limit, the system maintains string stability while ensuring collision prevention through adaptive control.
3Productivity
If excessive deceleration limit mode is activated, then traffic congestion is reduced, but deceleration control precision worsens
Solution Approach 1:
The patent segments deceleration control into two distinct modes: normal mode for typical driving conditions and excessive deceleration limit mode for preventing string instability. This segmentation allows the system to optimize traffic flow efficiency in the excessive deceleration limit mode while maintaining adequate control precision through mode-specific parameter settings.
Data Source
AI summary
The present disclosure relates to an autonomous driving control apparatus and a control method thereof. An autonomous driving control apparatus may include a sensor device, a communication device, one or more processors, and memory. The sensor device may detect a leading vehicle of a host vehicle. The communication device may receive, from the leading vehicle, vehicle information of the leading vehicle. The autonomous driving control apparatus may, based on a deceleration request of the host vehicle, operate in an excessive deceleration limit mode; determine, based on the vehicle information of the leading vehicle, a speed control signal for changing a vehicle speed of the leading vehicle; and adjust, based on the speed control signal and while operating in the excessive deceleration limit mode, an excessive deceleration limit level of the host vehicle.