Lateral Control Apparatus for Vehicle Platoon String Stability
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Solution Overview
Problem
Existing vehicle platoon systems face string instability issues due to error propagation, where lateral displacements are amplified downstream, potentially causing vehicles to leave their lanes, especially in decentralized platoons without specialized infrastructure.
Innovation Solution
An apparatus and method for lateral control of a host vehicle in a platoon using sensors to acquire and filter control signals and lateral errors, implementing a control algorithm that ensures string stability by filtering these signals and relaying information within the platoon to maintain stable vehicle following without direct vehicle-to-vehicle communication.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If decentralized platoon control is implemented without specialized infrastructure, then ease of operation and adaptability are improved, but string stability deteriorates due to error propagation
Solution Approach 1:
The patent implements feedback by having each vehicle receive and process control signals from preceding vehicles. The control signal u_i includes lateral error information that is fed back into the control algorithm of following vehicles, allowing them to adjust their positioning to compensate for upstream errors and maintain platoon stability.
Solution Approach 2:
The patent introduces an intermediary communication system that transmits control signals between vehicles. This intermediary mechanism allows error correction information to be propagated through the platoon without requiring direct sensor contact between all vehicles, resolving the stability issue while maintaining decentralized operation on unmodified roads.
2Measurement precision
If lateral error information is transmitted from preceding vehicles, then control accuracy is improved, but error propagation throughout the platoon increases
Solution Approach 1:
The patent changes the parameter representation by transforming raw lateral error measurements into corrected control signals that include compensation factors. The control signal u_i is modified to account for upstream errors, effectively changing the error propagation dynamics from amplification to damping through parameter transformation.
3Ease of operation
If automated lateral control is implemented, then driver comfort and safety are improved, but system complexity increases
Solution Approach 1:
The patent segments the control system into modular components: sensor modules for detecting lateral position, communication modules for exchanging control signals, and control algorithm modules for processing information. This segmentation allows the complex automated control function to be implemented through simple, standardized modules that maintain driver comfort while managing system complexity.
Data Source
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AI summary
Embodiments herein relate to an apparatus and method for lateral control of a host vehicle (F) during travel in a vehicle platoon. The apparatus comprises: means for acquiring a control signal u and a lateral error ε relative to a target vehicle (L) of a preceding vehicle (T) travelling in the vehicle platoon; filter means (F1) for filtering the received lateral error ε; filter means (F2) for filtering the received control signal u; and controller means (C) for executing a control algorithm for actuating lateral control of the host vehicle (F).