Platooning Path Planning Using V2V Line Data Correction
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Solution Overview
Problem
In platooning, the precision of line information recognized by following vehicles is compromised due to short inter-vehicular distances and obstruction by trailers, leading to errors in line recognition and path planning.
Innovation Solution
An apparatus and method that utilize Vehicle-to-Vehicle (V2V) communication and sensor data to correct line information by matching and error-correcting data from leading and following vehicles, accounting for time differences and environmental objects, to plan a reliable platooning path.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of energy
If following vehicles use sensing technology to recognize lines at short distances, then fuel saving is achieved through minimized air resistance, but line recognition precision deteriorates due to obstruction by trailers
Solution Approach 1:
The patent combines line information from multiple sources: the following vehicle's own sensing data, the leading vehicle's line information transmitted via V2V communication, and path information from map data. By merging these multiple information sources, the system overcomes the limitation of single-source line recognition at short distances while maintaining the fuel efficiency benefits of close platooning formation.
Solution Approach 2:
The patent introduces V2V communication as an intermediary to transmit line information from the leading vehicle to following vehicles. This intermediary channel allows following vehicles to access accurate line information without relying solely on their own obstructed sensing, thereby resolving the precision problem while maintaining short inter-vehicular distances for fuel savings.
2Measurement precision
If following vehicles directly follow the front vehicle without using line information, then line recognition precision is improved, but lane invasion occurs due to time difference errors
Solution Approach 1:
The patent employs feedback mechanisms where the system continuously compares the following vehicle's position with the corrected path information derived from merged line data. The path planning unit uses this feedback to adjust the following trajectory, compensating for time difference errors and preventing lane invasion while maintaining accurate line following.
Solution Approach 2:
The system performs preliminary path planning using corrected line information from multiple sources before the following vehicle executes the maneuver. By pre-calculating the optimal path that accounts for time differences and vehicle dynamics, the system prevents lane invasion before it occurs, enhancing reliability while maintaining precision.
Data Source
AI summary
An apparatus for controlling platooning and a method for planning a path are provided. The apparatus includes: a communication device to receive information on a preceding vehicle from the preceding vehicle through Vehicle to Vehicle (V2V) communication; a recognition device to obtain information on an nth following vehicle through a sensor mounted in a vehicle body; and a processor to generate third line information by matching first line information, which is in the information on the preceding vehicle, to second line information, which is in the information on the nth following vehicle, and to plan a platooning path by utilizing the third line information.