Adaptive Vehicle Platoon Control Algorithm Selection
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Solution Overview
Problem
Existing vehicle platooning systems face challenges in maintaining accurate control under imperfect communication conditions, such as message loss or delay, which can lead to suboptimal platoon behavior and safety issues due to the reliance on specific communication topologies that may not adapt to varying network conditions.
Innovation Solution
A method and apparatus for controlling a vehicle in a platoon by selecting and switching between multiple control algorithms based on the type and availability of information received, including radar information and vehicle-to-vehicle messages, to adapt to different communication topologies and ensure stable platoon behavior even in conditions of message loss or delay, using prediction algorithms when necessary and requesting information from other vehicles when messages are not received.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If a single control algorithm is used for platoon control, then the control logic is simple, but the system cannot adapt to varying communication conditions such as message loss or delay
Solution Approach 1:
The system dynamically switches between different control algorithms (ACC, CACC, and fallback algorithms) based on real-time communication conditions. The controller monitors message reception status and transitions between algorithms to adapt to varying network conditions, transforming a static single-algorithm approach into a dynamic multi-algorithm system that responds to environmental changes.
Solution Approach 2:
The system changes the control parameter set by selecting different control algorithms based on communication quality. When communication conditions deteriorate (message loss, delay), the system transitions from CACC algorithms that rely on V2V messages to ACC algorithms that use only local sensors, effectively changing the operational parameters of the control system to match current conditions.
2Stability of the object's composition
If CACC with multiple messages is used to reduce disturbance propagation, then platoon stability improves, but network delay and message loss problems increase
Solution Approach 1:
The system prepares multiple control algorithms in advance, including fallback options that do not rely on V2V communication. When message delivery fails or delays occur, the system can immediately switch to pre-prepared alternative algorithms, cushioning against the unreliability of the communication network and maintaining platoon stability despite message loss.
Solution Approach 2:
The system introduces an intermediary layer (the algorithm selection mechanism) between the communication messages and the control action. This intermediary monitors message quality and determines whether to use CACC algorithms (when messages are reliable) or ACC algorithms (when messages are unreliable), mediating the impact of network issues on platoon control.
3Object-generated harmful factors
If ACC with larger gaps is used to avoid one-by-one propagation, then disturbance propagation is reduced, but fuel efficiency decreases
Solution Approach 1:
The system achieves multi-functionality by making the control algorithm universal - it can operate in both CACC mode (using V2V messages for tight spacing) and ACC mode (using only local sensors for larger gaps). This universal controller adapts its behavior based on communication availability, allowing the platoon to achieve fuel efficiency through tight spacing when possible while maintaining disturbance isolation when communication fails.
Data Source
AI summary
A method and apparatus are provided for controlling a vehicle travelling in a platoon. A first set of information is received at a first vehicle in a platoon, the first set of information relating to at least one other vehicle in the platoon. One of a plurality of control algorithms is selected in dependence on the first set of information, wherein each of the plurality of control algorithms correspond to a respective platoon communication topology. The first vehicle is controlled in response to the first set of information and the selected one of the control algorithms.