Cooperative Driving Control Device for Departing Vehicle Collision Prevention
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Solution Overview
Problem
In cooperative driving systems, vehicles departing from a group face a risk of collision due to the inability to adjust set speed and headway time effectively, leading to potential rear-end collisions and instability in the driving system.
Innovation Solution
A cooperative driving control device and method that adjusts the set speed of follower vehicles to be higher than the leader vehicle's speed by a certain percentage and extends the target headway time for vehicles departing from the group, preventing collisions and ensuring smooth departure from the cooperative driving group.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the set speed of follower vehicles is set to match the leader vehicle's speed, then the cooperative driving group maintains uniform speed, but departing vehicles cannot quickly accelerate to overtake and may collide with vehicles behind them
Solution Approach 1:
The patent applies dynamics by making the set speed adjustable and time-dependent. When a vehicle requests to depart, the system dynamically changes the set speed from the leader vehicle's speed to a higher value (leader speed + Δv). This allows the departing vehicle to accelerate quickly to overtake safely, then return to normal speed after departure is complete, resolving the contradiction between maintaining uniform speed and enabling fast departure.
Solution Approach 2:
The system changes the speed parameter dynamically based on the departure state. The set speed parameter is modified from a static value (leader vehicle speed) to a dynamic value that increases during departure and returns to normal after departure. This parameter change enables the vehicle to achieve both uniform speed during normal operation and high speed during departure to prevent collisions.
2Reliability
If the headway time is set to a default value for cooperative driving, then the driving group maintains compact formation, but vehicles departing from the group cannot maintain safe distance and may be rear-ended
Solution Approach 1:
The headway time is made dynamic rather than static. When a vehicle departs, the system automatically increases the headway time from the default cooperative driving value to a larger value. This dynamic adjustment ensures safe distance during departure while maintaining compact formation during normal operation, resolving the contradiction between safe distance and formation stability.
Solution Approach 2:
The system performs preliminary action by pre-increasing the headway time before the departing vehicle completes its maneuver. This anticipatory adjustment of the safety parameter ensures that the vehicle behind maintains adequate distance throughout the departure process, preventing rear-end collisions while the departing vehicle establishes its new position.
3Speed
If the set speed is increased above the leader vehicle's speed to enable quick departure, then departing vehicles can overtake faster, but the cooperative driving group's speed uniformity is disrupted
Solution Approach 1:
The system uses dynamic speed adjustment that is temporary and conditional. The set speed is increased above the leader vehicle's speed only during the departure phase, and automatically returns to the leader vehicle's speed after departure is complete. This temporal differentiation allows fast departure when needed while maintaining speed uniformity during normal cooperative driving, resolving the contradiction between departure speed and group uniformity.
Solution Approach 2:
The speed increase is applied locally to the departing vehicle during the specific departure phase, rather than to the entire group continuously. This localized and temporary modification allows the departing vehicle to achieve higher speed for safe overtaking while the rest of the group maintains uniform speed, resolving the contradiction between individual departure needs and group uniformity.
Data Source
AI summary
The present disclosure relates to a cooperative driving control technology, by which the set speed of an automatic cruise system of follower vehicles, other than a foremost vehicle, among cooperative driving vehicles is set to be higher by a certain value than the driving speed of the leader vehicle, and the headway time of a vehicle immediately after a departing vehicle is increased during a departure period of the follower vehicle, thereby enabling the departing vehicle to quickly and completely depart and preventing a collision between vehicles during the period.