Lead Vehicle Acceleration Limiting for Platoon Stability
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Solution Overview
Problem
In vehicle platoon systems, the lack of equivalent motion performance among vehicles leads to reduced followability, and factors like slopes or heavy loads can further impair motion performance, affecting the consistency of platoon running.
Innovation Solution
A vehicle control apparatus that sets a smaller acceleration limit value for the lead vehicle based on the specifications of following vehicles, limiting its acceleration or deceleration to match the performance of the least capable vehicle, thereby maintaining a stable inter-vehicle distance and improving followability.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If the lead vehicle operates with high acceleration performance based on its own specifications, then the lead vehicle's motion performance is maximized, but the followability of the platoon is reduced due to the limited acceleration capability of following vehicles
Solution Approach 1:
The lead vehicle dynamically changes its acceleration limit parameter from a high value (based on its own specifications) to a lower value (matching the following vehicle's capability). The control device determines a first acceleration limit value based on the lead vehicle's specifications and a second acceleration limit value based on the following vehicle's specifications, then sets the smaller of the two as the operational acceleration limit. This parameter adjustment ensures the lead vehicle's acceleration remains within the following vehicle's followable range, resolving the contradiction between maximizing lead vehicle performance and ensuring platoon followability.
2Adaptability or versatility
If the platoon operates on slopes or with heavy loads, then the vehicles can maintain their operational capacity, but the motion performance of individual vehicles is impaired, reducing overall platoon consistency
Solution Approach 1:
The control device continuously monitors the actual acceleration of the lead vehicle and compares it with the determined acceleration limit value. When the actual acceleration exceeds the limit, the control device adjusts the acceleration instruction to comply with the limit. This feedback mechanism ensures that even when environmental conditions (slopes, loads) vary, the platoon maintains consistent motion by preventing any vehicle from accelerating beyond the capability of the least capable vehicle, thus resolving the contradiction between operational adaptability and motion consistency.
Data Source
AI summary
According to one aspect of the present invention, a vehicle control apparatus mounted on a lead vehicle sets a smaller value of a first acceleration limit value determined based on specifications regarding running of a first following vehicle and a basic acceleration limit value determined based on specifications regarding running of the lead vehicle as a set acceleration limit value of the lead vehicle, and outputs an acceleration instruction for controlling a braking apparatus or a driving apparatus after limiting it according to the set acceleration limit value.