CACC Vehicle Control Integrating Sensor Monitoring for Intermediate Obstacles
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Solution Overview
Problem
Non-CACC-equipped vehicles disrupting vehicle platooning systems by requiring a switch to on-board sensor control, leading to loss of benefits like fuel efficiency, improved traffic flow, and driver comfort.
Innovation Solution
A method for controlling a subject vehicle to receive wireless signals from a transmitting vehicle, monitoring distance using on-board sensors, and adjusting velocity/acceleration based on these signals to maintain safe distance and retain CACC benefits even when a non-CACC vehicle enters the platoon.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a non-CACC-equipped vehicle enters or cuts in between two platooning vehicles, then the platoon composition becomes more diverse and adaptable, but the CACC control benefits (fuel efficiency, traffic flow, driver comfort) are lost and the system must switch to standard CC or ACC functionality
Solution Approach 1:
The patent segments the control system into two independent control loops: one for CACC control based on wireless communication with the leading vehicle, and another for safety monitoring based on on-board sensors detecting intermediate vehicles. This segmentation allows the system to maintain CACC control benefits while simultaneously monitoring for intermediate vehicles that would block the wireless signal
Solution Approach 2:
The patent introduces an intermediary safety monitoring function that acts as a mediator between the CACC control system and the physical presence of intermediate vehicles. This intermediary monitoring system uses on-board sensors to detect vehicles blocking the wireless communication path and triggers appropriate safety responses without disrupting the CACC control loop
2Reliability
If the system switches from CACC control to standard CC or ACC control when a non-CACC vehicle is detected, then safety is maintained, but fuel efficiency and traffic flow improvement are lost
Solution Approach 1:
The patent implements dynamic control mode switching where the system can operate in CACC mode when no intermediate vehicles are present, and automatically transition to safety monitoring mode when intermediate vehicles are detected. This dynamic adaptation allows the system to maximize fuel efficiency during normal CACC operation while maintaining safety when intermediate vehicles are present
Solution Approach 2:
The system performs preliminary safety monitoring by continuously using on-board sensors to detect the presence of intermediate vehicles before they become a safety hazard. This preliminary detection allows the system to prepare for potential safety actions while maintaining CACC control benefits during normal operation
3Measurement precision
If wireless communication is used for CACC control, then data transfer speed and accuracy are improved, but the system becomes vulnerable to signal blocking by intermediate vehicles
Solution Approach 1:
The patent merges two different information acquisition methods: wireless communication for obtaining leading vehicle data and on-board sensor detection for detecting intermediate vehicles. By combining these complementary methods, the system achieves both high data accuracy from wireless communication and immunity to signal blocking through sensor-based intermediate vehicle detection
Data Source
AI summary
The invention relates to a method for controlling a subject vehicle (1) travelling along a road behind a vehicle transmitting wireless signals representative of at least one parameter affecting the velocity and/or acceleration of the transmitting vehicle (2), the method comprising—receiving said wireless signals from the transmitting vehicle (2), —controlling (S6) the velocity and/or acceleration of the subject vehicle (1) in dependence on the received signals, —during said control (S6) in dependence on the received signals, monitoring (S3) by means (111) other than means for wireless communication a distance (DSF) between the subject vehicle (1) and a further vehicle (3) travelling between the subject vehicle (1) and the transmitting vehicle (2), —and determining in dependence on the monitoring of the distance (DSF) between the subject vehicle (1) and the further vehicle (3) whether or not to control (S5) the velocity and/or acceleration of the subject vehicle (1) in dependence on the monitored distance (DSF).