Semi-autonomous Follower Vehicle Reversing via V2V Path Tracking
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
In autonomous vehicle platooning, semi-autonomous follower vehicles face challenges in reversing without physical connection to the leader vehicle, requiring precise matching of longitudinal and lateral movements to avoid collisions and maintain safe distance, which existing technologies struggle to achieve effectively.
Innovation Solution
The method involves obtaining the leader vehicle's speed and steering wheel angle through V2V communication, estimating its path, and calculating the follower vehicle's path and steering wheel angle using parameters like wheelbase, yaw difference, and turning radius, enabling controlled longitudinal and lateral movements to match the leader's trajectory.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If semi-autonomous follower vehicle reverses without physical connection to leader vehicle, then operational flexibility and autonomy are improved, but precise matching of longitudinal and lateral movements becomes difficult leading to collision risk
Solution Approach 1:
The system continuously receives real-time data from the leader vehicle including speed, steering wheel angle, and yaw through V2V communication. The follower vehicle's controller uses this feedback to dynamically adjust its longitudinal and lateral movements, ensuring precise tracking of the leader's trajectory without physical connection.
Solution Approach 2:
V2V communication acts as an intermediary between the leader and follower vehicles, transmitting critical motion parameters (speed, steering angle, yaw) that enable the follower to replicate the leader's movements accurately without direct physical coupling.
2Measurement precision
If follower vehicle uses complex path calculation algorithms, then path accuracy is improved, but computational complexity and processing time increase
Solution Approach 1:
The system pre-calculates the follower vehicle's path by estimating the leader's trajectory using current steering wheel angle and speed data. This preliminary path estimation allows the follower to proactively position itself along the anticipated trajectory, reducing the need for complex real-time recalculations during reversal.
Solution Approach 2:
The system transforms complex path planning into simpler parameter-based control by directly using leader vehicle parameters (steering wheel angle, speed, yaw) to determine follower vehicle movements. This parameter mapping approach simplifies computational requirements while maintaining path accuracy.
3Speed
If follower vehicle maintains real-time communication with leader vehicle, then movement synchronization is improved, but communication bandwidth requirements and system complexity increase
Solution Approach 1:
The system extracts only the essential motion parameters (speed, steering wheel angle, yaw) from the leader vehicle's data stream that are necessary for reversal control. By selecting and transmitting only these critical parameters through V2V communication, the system achieves movement synchronization without requiring comprehensive data exchange.
Data Source
AI summary
Systems and methods for reversing a semi-autonomous follower vehicle involve obtaining a speed of a leader vehicle in front of and unattached to the follower vehicle that is reversing. A method includes estimating a path of the leader vehicle and determining a path for the follower vehicle based on the path of the leader vehicle. A longitudinal movement of the follower vehicle is controlled based on the speed of the leader vehicle and a lateral movement of the follower vehicle is controlled based on the path for the follower vehicle.