Platoon Joining Control for Multi-Lane Vehicle Integration
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Solution Overview
Problem
Conventional platooning control systems limit vehicles to joining or leaving a group only when starting together and restrict lane changes, making it difficult for vehicles to seamlessly integrate into existing platoons with different starting points or change lanes.
Innovation Solution
A platooning control apparatus and method that selects the most suitable platooning group based on the ego vehicle's destination, analyzing platooning information and vehicle data to determine the optimal joining point, allowing vehicles to autonomously or manually join or leave the group, and navigate through different lanes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If vehicles must start together to join a platooning group, then the group composition remains simple and controlled, but the adaptability to vehicles with different starting points is reduced
Solution Approach 1:
The system dynamically adjusts the platooning control strategy based on whether the ego vehicle starts together with the platoon or joins later. The control unit switches between different control modes: strict synchronized control for simultaneous starts, and flexible autonomous control for late joiners, optimizing both adaptability and system complexity management
Solution Approach 2:
The system changes the control parameters based on the joining scenario. For vehicles joining at different starting points, the control unit modifies the autonomous driving level, allowing higher autonomy for late-joining vehicles while maintaining stricter coordination for simultaneous-start vehicles, thus balancing adaptability with manageable complexity
2Ease of operation
If all vehicles must drive in the same lane, then the platooning control is simplified, but the ease of operation when lane changes are needed is reduced
Solution Approach 1:
The system segments the platooning control into lane-based subgroups. When lane changes are involved, the control unit divides the platoon into multiple lane-specific segments, allowing vehicles in different lanes to operate semi-independently while maintaining overall platoon coordination, thus enabling lane changes without overwhelming system complexity
Solution Approach 2:
The system adds the lane dimension to the traditional single-file platoon structure. By allowing vehicles to be distributed across multiple lanes while maintaining platoon membership, the system enables more flexible operation including lane changes, cutting-ins, and parallel driving, transforming the platoon from a one-dimensional line to a two-dimensional formation
3Productivity
If a vehicle cuts in the middle of a platooning group, then the road usage efficiency is improved, but the following vehicle's ability to maintain proper spacing is compromised
Solution Approach 1:
The system implements continuous feedback mechanisms where the control unit constantly monitors the relative positions and speeds of all platoon members. When a vehicle cuts in, the feedback loop detects the position change and automatically adjusts the following distance and speed of affected vehicles to maintain safe spacing, thus allowing road usage optimization without compromising safety
Solution Approach 2:
The system pre-establishes safety buffers and cushioning zones around each vehicle in the platoon. Before a cut-in maneuver, the system prepares by increasing following distances and reducing speeds of nearby vehicles, creating a cushion that absorbs the disturbance of the cut-in, thus maintaining reliability even when productivity is enhanced through mid-platoon joining
Data Source
AI summary
A platooning control apparatus may include: a navigation unit configured to guide an ego vehicle to a destination set by a driver; a driving module configured to drive the ego vehicle; and a control unit configured to primarily select platooning groups based on the destination set in the navigation unit, analyze platooning information of the primarily selected platooning groups, finally decide any one of the primarily selected platooning groups, and then control the driving module to join the finally decided platooning group.