Convoy Vehicle Reference Control for Adaptive Following Distance

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Solution Overview

Problem

Current technologies for controlling vehicles in convoys face challenges related to communication robustness, distribution of control authority, fuel efficiency, and safety.

Innovation Solution

The implementation of dynamic reference generation and control systems that utilize environmental sensors and wireless communication systems to coordinate vehicle operations, including bi-directional communication and regenerative braking capabilities, to optimize following distances and improve operating efficiency.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional control systems are used for vehicles in convoys, then basic coordination is achieved, but communication robustness deteriorates and safety is compromised

Engineering Contradiction:

Improvecommunication robustnessVSAvoidcontrol system complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The control system is segmented into multiple independent control units, each responsible for specific vehicles or functions. This segmentation improves communication robustness by isolating failures to specific segments while maintaining overall system functionality, and allows distributed control authority across multiple nodes rather than centralized control.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The control system dynamically adjusts communication protocols and control authority distribution based on real-time conditions. Communication channels are dynamically selected and switched based on robustness requirements, and control authority is dynamically redistributed when failures occur, improving overall reliability without requiring overly complex static architecture.

Inventive Principle:

Principle #15Dynamics

2Use of energy by moving object

If dynamic reference generation is implemented, then fuel efficiency is improved, but control complexity increases

Engineering Contradiction:

Improvefuel efficiencyVSAvoidcontrol system complexity

Core Design Contradiction:

Use of energy by moving objectVSDevice complexity

Solution Approach 1:

The system pre-calculates optimal reference trajectories and control parameters based on predicted future conditions (road grade, traffic, vehicle dynamics). This preliminary action allows the complex optimization to be performed in advance, reducing real-time computational burden while maintaining fuel efficiency benefits from dynamic adaptation.

Inventive Principle:

Principle #10Preliminary action

Solution Approach 2:

The control system continuously monitors actual vehicle performance against reference trajectories and dynamically adjusts control parameters based on feedback. This closed-loop feedback mechanism enables fuel efficiency optimization through adaptive reference generation while managing complexity through iterative refinement rather than overly complex open-loop control laws.

Inventive Principle:

Principle #23Feedback

3Use of energy by moving object

If regenerative braking is used to improve fuel efficiency, then energy recovery increases, but following distance control becomes more complex

Engineering Contradiction:

Improveenergy recoveryVSAvoidfollowing distance precision

Core Design Contradiction:

Use of energy by moving objectVSManufacturing precision

Solution Approach 1:

The control system dynamically changes operational parameters including regenerative braking force levels and following distance setpoints based on real-time conditions. When regenerative braking is activated, the system adjusts following distance parameters to account for extended stopping distances, maintaining precision while enabling energy recovery. This parameter adaptation resolves the conflict between energy recovery and distance control precision.

Inventive Principle:

Principle #35Parameter changes

4Adaptability or versatility

If bi-directional communication is implemented, then coordination capability is improved, but communication robustness requirements increase

Engineering Contradiction:

Improvecoordination capabilityVSAvoidcommunication robustness

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The system implements redundant communication paths and pre-established fallback protocols to cushion against communication failures. Bi-directional communication is enhanced with predefined backup channels and error correction mechanisms that are activated beforehand, allowing versatile coordination while maintaining robustness through prepared contingency measures.

Inventive Principle:

Principle #11Beforehand cushioning (Prior cushioning)

Data Source

PatentUS12240455B2Dynamic reference generation and control for vehicles traveling in a convoy

Publication Date: 2025.03.04 CUMMINS INC

AI summary

An electronic control system is configured to control a vehicle operating in a convoy by determining a vehicle motion reference parameter (VMRP) in response to a convoying control input (CCI), determining a braking capability of the vehicle including at least a regenerative braking capability, determining a minimum following distance between the vehicle and a forward vehicle of the convoy based at least in part upon the braking capability, and arbitrating among a plurality of control options including performing a first modification of the VMRP determined to provide operation of the vehicle satisfying the minimum following distance and controlling motion of the vehicle using the first modification of the VMRP, performing a second modification of the VMRP determined to provide improved operating efficiency of the vehicle controlling motion of the vehicle using the second modification of the VMRP, and performing no modification of the VMRP and controlling motion of the vehicle using the VMRP without modification.