Local Platooning Controller With Adaptive Feedback Rate Control
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Solution Overview
Problem
Current platooning systems face challenges in balancing the message exchange rate between local and global controllers to manage signalling load and ensure safety, particularly in high-density scenarios where open loop control lacks monitoring capabilities and closed loop control can lead to wireless channel overload.
Innovation Solution
The system adapts feedback and command communication rates based on deviations from control parameters, using a local platooning controller to transmit feedback information to a global platooning controller, which determines overall signalling load and adjusts control commands accordingly, allowing for dynamic feedback and command communication rates.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If closed loop control is used to improve monitoring capabilities and control performance, then safety and responsiveness are improved, but wireless channel overload occurs due to high feedback frequency
Solution Approach 1:
The feedback frequency is made dynamic rather than static. The control module adapts the feedback rate based on the calculated deviation between actual and desired states. When deviation is large, feedback frequency increases to improve safety; when deviation is small, feedback frequency decreases to reduce signalling load. This dynamic adaptation resolves the contradiction between safety and channel overload.
Solution Approach 2:
The system changes the parameter of feedback frequency based on the deviation magnitude. By calculating the deviation between actual vehicle state and desired state, the system adjusts the feedback rate parameter dynamically. This parameter change allows the system to maintain safety when needed while reducing signalling load during normal operation.
2Quantity of substance
If open loop control is used to reduce signalling load, then wireless channel capacity is preserved, but monitoring capabilities and safety are reduced
Solution Approach 1:
The system implements feedback control but adapts the feedback frequency based on deviation. Rather than continuous feedback that would overload the channel, the system provides feedback at variable rates determined by the actual need (deviation magnitude). This ensures monitoring capabilities are maintained when necessary while reducing signalling load during normal operation.
Solution Approach 2:
The feedback mechanism is made dynamic, switching between higher and lower feedback frequencies based on operational conditions. When the deviation exceeds thresholds, feedback frequency increases to maintain safety; when deviation is within acceptable ranges, feedback frequency decreases to preserve channel capacity. This dynamic approach resolves the contradiction between safety monitoring and signalling load.
3Measurement precision
If high feedback frequency is used to minimize inter-vehicle distance, then control precision is improved, but channel overload occurs and quality of service for safety critical applications deteriorates
Solution Approach 1:
The feedback frequency parameter is changed dynamically based on the deviation between actual and desired states. When high precision is needed (large deviation), the feedback frequency increases; when acceptable precision is maintained (small deviation), the frequency decreases. This parameter adaptation allows the system to achieve high control precision when necessary without permanently overloading the channel.
Solution Approach 2:
The system transitions from static to dynamic feedback frequency. The control module continuously monitors deviation and adjusts feedback rate accordingly. This dynamic behavior allows the system to provide high control precision during critical situations while maintaining acceptable channel capacity during normal operation, resolving the contradiction between precision and channel capacity.
Data Source
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AI summary
Embodiments relate to apparatuses, methods and computer programs for a local platooning controller and a global platooning controller, and a platooning system. The apparatus (10) for a local platooning controller (100) of a vehicle comprises a transceiver module (12) configured to receive information related to a control command from a global platooning controller (200), and to transmit feedback information to the global platooning controller (200). The apparatus comprises a control module (14) configured to control the transceiver module (12). The control module (14) is configured to determine information related to a deviation between control information received with information related to the control command from the global platooning controller (200) and an actual state of the vehicle, and to effect transmission of feedback information based on the information related to the deviation.