Platoon Vehicle Acceleration Control for Curved-Road Ride Comfort

Solution Overview

Problem

Existing technologies do not effectively coordinate longitudinal and lateral motions of vehicles in a platoon, leading to potential ride comfort issues and reduced transport efficiency, especially on curved roads.

Innovation Solution

A mobile object control system that adjusts the relationship between longitudinal and lateral accelerations for all vehicles in a platoon, ensuring smooth motion during acceleration and deceleration, particularly on curved roads, by controlling the longitudinal acceleration of each vehicle based on its position in the platoon and the presence of occupants or cargo.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If a single vehicle performs G-vectoring control to coordinate longitudinal and lateral motions, then emergency avoidance performance is improved, but the method does not address platoon travel scenarios where multiple vehicles need coordinated control

Engineering Contradiction:

Improveemergency avoidance performanceVSAvoidapplicability to platoon travel

Core Design Contradiction:

ReliabilityVSAdaptability or versatility

Solution Approach 1:

The platoon is segmented into a head vehicle and multiple following vehicles, with each vehicle independently performing G-vectoring control based on its own lateral acceleration and longitudinal velocity measurements. This segmentation allows the control method to be applied to each vehicle individually while maintaining platoon coordination through information sharing.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Each vehicle in the platoon uses feedback from its own lateral acceleration sensor and longitudinal velocity measurements to continuously adjust its acceleration commands. The head vehicle's deceleration commands serve as reference feedback for following vehicles, creating a multi-layer feedback system that coordinates platoon motion while maintaining individual vehicle control.

Inventive Principle:

Principle #23Feedback

2Productivity

If vehicles in a platoon maintain predetermined clearances during travel, then transport efficiency is improved, but ride comfort deteriorates when lateral acceleration occurs during acceleration or deceleration

Engineering Contradiction:

Improvetransport efficiencyVSAvoidride comfort

Core Design Contradiction:

ProductivityVSObject-affected harmful factors

Solution Approach 1:

The control system dynamically changes the longitudinal acceleration parameter based on the current lateral acceleration condition. When lateral acceleration exceeds a threshold during platoon acceleration or deceleration, the system adjusts the longitudinal acceleration command to reduce the vector sum, thereby improving ride comfort while maintaining efficient platoon operation through coordinated control.

Inventive Principle:

Principle #35Parameter changes

3Object-affected harmful factors

If the vector sum of longitudinal and lateral accelerations is reduced during curve travel, then ride comfort is improved, but the coordination control method is not applied to following vehicles in the platoon

Engineering Contradiction:

Improveride comfortVSAvoidapplication to all platoon vehicles

Core Design Contradiction:

Object-affected harmful factorsVSAdaptability or versatility

Solution Approach 1:

The platoon is segmented into a head vehicle and multiple following vehicles, with each vehicle independently performing G-vectoring control based on its own lateral acceleration and longitudinal velocity measurements. This segmentation allows the control method to be applied to each vehicle individually while maintaining platoon coordination through information sharing.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

Each vehicle in the platoon uses feedback from its own lateral acceleration sensor and longitudinal velocity measurements to continuously adjust its acceleration commands. The head vehicle's deceleration commands serve as reference feedback for following vehicles, creating a multi-layer feedback system that coordinates platoon motion while maintaining individual vehicle control.

Inventive Principle:

Principle #23Feedback

Data Source

PatentEP4129790B1Mobile body control system

Publication Date: 2025.01.22 HITACHI LTD

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AI summary

Provided is a mobile body control system capable of improving both the comfort of passengers in each mobile body and the efficiency of cargo transport when a plurality of mobile bodies travel in a formation. A mobile body control system (1) causes a plurality of mobile bodies (21) to travel in a formation along a preset travel route, and comprises a preceding/succeeding acceleration calculation unit (S49) that calculates a preceding/succeeding acceleration of a preceding mobile body (21_n) and a succeeding mobile body (21_n+1) on the travel route. The preceding/succeeding acceleration calculation unit adjusts a gain E of an arithmetic expression used to calculate the preceding/succeeding acceleration on the basis of information about a transported object being transported by each mobile body (21).