Follower Vehicle Platoon Control Mode Switching
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Solution Overview
Problem
Current simulations of vehicle platoons do not account for degrading factors such as communication errors and real-time environment disturbances, leading to instability and impracticality for real-world applications.
Innovation Solution
A method and system for a follower vehicle in a platoon that dynamically switches between control modes based on the vehicle's operational state, using communication data in normal conditions and sensor data in abnormal conditions to maintain a safe distance and trajectory, employing PID controllers with adjustable gains for velocity and deviation control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Use of energy by moving object
If vehicle platoon uses communication data from preceding vehicle to control movement, then fuel economy and traffic congestion reduction are improved, but system reliability deteriorates due to communication errors and environmental disturbances
Solution Approach 1:
The system dynamically changes the control parameter source based on operational conditions. When communication quality is good, it uses communication data (V2V messages) for control. When communication degrades or fails, it switches to using local sensor data (GPS, inertial sensors) for control. This parameter switching resolves the contradiction by adapting the data source to current conditions, maintaining both fuel efficiency and reliability.
Solution Approach 2:
The control system transitions from a static communication-based approach to a dynamic hybrid approach that can switch between communication data and sensor data. The system continuously monitors communication quality and operational state, dynamically adjusting the data source for control decisions. This dynamic adaptation ensures reliability while maintaining the fuel economy benefits of communication-based platoon control.
2Length of moving object
If vehicle platoon relies on communication data for control, then closer safety distance is achieved, but stability deteriorates due to communication errors and real-time environment disturbances
Solution Approach 1:
The system prepares for potential communication failures by having sensor-based control as a pre-established backup. When communication errors occur, the sensor data (GPS positioning, inertial measurements) provides an immediate alternative control source, cushioning against the destabilizing effect of communication disruptions and maintaining platoon stability while preserving reduced safety distances.
3Reliability
If follower vehicle uses sensor data instead of communication data, then reliability is improved, but fuel economy and traffic congestion reduction benefits are lost
Solution Approach 1:
The system changes the control parameter source based on operational needs. Sensor data (GPS, inertial sensors) is used as the primary control source when reliability is compromised due to communication issues. When communication quality is good, the system switches back to communication-based control to regain fuel economy benefits. This dynamic parameter switching resolves the contradiction between reliability and fuel efficiency.
Data Source
AI summary
A method for operating a follower vehicle in a vehicle platoon includes determining, during operation, whether the follower vehicle is operating in a normal state or an abnormal state based on an operation condition of a component of the follower vehicle, or a communication between the follower vehicle and a preceding vehicle in the vehicle platoon. The method further includes selecting a first control mode if the follower vehicle is in the normal state and a second control mode if the follower vehicle is in the abnormal state so as to control movement of the follower vehicle using the selected control mode. In the first control mode, the follower vehicle uses communication data received from the preceding vehicle in the vehicle platoon to control its movement. In the second control mode, the follower vehicle uses data obtained by one or more of its sensors to control its movement.