Vehicle Convoy Path-Following Control via V2V Lead Trajectory Copying
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Solution Overview
Problem
Current driver-assistive platooning systems face challenges in navigating complex environments like dockyards and are less safe and flexible, particularly when forming 'road trains' with multiple trailers, due to the lack of an efficient automatic vehicle control system that allows a driverless following vehicle to replicate the path of a leading vehicle.
Innovation Solution
A method and apparatus enabling automated following of vehicles through a V2V communication system, where a lead vehicle transmits its path and sensor data to a following vehicle, allowing the FTL system to mimic its behavior, maintain a safe gap, and control steering, braking, and engine systems, with the ability for either vehicle to switch roles and ensure safe operation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of energy
If driver-assistive platooning systems are used to manage gap between vehicles, then fuel savings are achieved at highway speeds, but the system lacks automation for navigating complex environments and requires multiple drivers
Solution Approach 1:
The following vehicle creates a virtual copy of the lead vehicle's path by receiving and storing sequence of position coordinates through V2V communication. The FTL system reproduces the lead vehicle's trajectory by matching stored coordinates with actual position, enabling automated navigation through complex environments without requiring the following driver to manually navigate
Solution Approach 2:
A communication system acts as an intermediary between the lead and following vehicles, transmitting path information and sensor data. This intermediary enables the following vehicle to receive real-time position coordinates and sensor inputs, allowing automated control while maintaining coordination with the lead vehicle's navigation decisions
2Productivity
If road trains with multiple trailers are formed to reduce driver shortage, then productivity is improved, but maneuverability and safety decrease in complex environments like dockyards
Solution Approach 1:
The FTL system copies the lead vehicle's path coordinates and steering actions, allowing the following vehicle to automatically reproduce the lead vehicle's maneuvering through complex environments. This eliminates the need for the following driver to manually navigate sharp corners and obstacles, maintaining productivity while improving ease of operation
Solution Approach 2:
The system continuously receives feedback from the lead vehicle's sensor inputs and position data, allowing the following vehicle to adjust its path in real-time. This feedback loop enables the following vehicle to maintain safe gaps while automatically navigating complex environments, improving both maneuverability and safety
3Reliability
If following vehicles manually control steering and maintain readiness to assume full control, then safety is maintained, but the system lacks efficiency and requires multiple drivers
Solution Approach 1:
The FTL system automatically copies the lead vehicle's path and control actions, replacing manual steering control with automated path reproduction. This eliminates the need for following drivers to manually control steering while maintaining safety through automated gap management and fail-safe protocols
Solution Approach 2:
The following vehicle's FTL system autonomously manages its own control actions by automatically reproducing the lead vehicle's path and maintaining safe gaps. The system serves itself by autonomously navigating through complex environments without requiring continuous human intervention, improving operational efficiency while maintaining safety
Data Source
AI summary
Disclosed herein are a method and apparatus for automated following behind a lead vehicle. The lead vehicle navigates a path from a starting point to a destination. The lead vehicle and the following vehicle are connected via V2V communication, allowing one or more following vehicles to detect the path taken by the lead vehicle. A computerized control system on the following vehicle (a Follow-the-Leader, or FTL, system) allows the following vehicle to mimic the behavior of the lead vehicle, with the FTL system controlling steering to guide the following vehicle along the path previously navigated by the lead vehicle. In some embodiments, the lead vehicle and following vehicle may both use Global Navigation Satellite System (GNSS) position coordinates. In some embodiments, the following vehicle may also have a system of sensors to maintain a gap between the following and lead vehicles.