Platooning Path Planning Using Shared Line Recognition
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Solution Overview
Problem
In platooning, vehicles face challenges in accurately recognizing lines due to short distances and obstructions, leading to errors in following vehicles, especially when the line is hidden by a trailer, and these errors can accumulate in a string of vehicles.
Innovation Solution
An apparatus and method that utilize real-time information from preceding vehicles, including distance, rear surface position, and refraction angles, to estimate and coordinate-transform line information, generating a final line for path planning, even at short distances, using sensors and vehicle-to-vehicle communication to ensure accurate line recognition and path planning.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of energy
If the distance between vehicles in platooning is reduced to minimize air resistance, then fuel efficiency is improved, but line recognition accuracy deteriorates because the line is hidden by the preceding vehicle's trailer
Solution Approach 1:
The patent introduces V2V communication as an intermediary to transfer line information from the preceding vehicle to the following vehicle. This allows the following vehicle to obtain accurate line information without needing to visually recognize the line directly, thus maintaining short inter-vehicle distances for fuel efficiency while ensuring line recognition accuracy through the communication-mediated information transfer.
Solution Approach 2:
The preceding vehicle performs preliminary line recognition and transmits this information to following vehicles before they need it. By pre-acquiring and sharing line information, the system enables following vehicles to maintain accurate path following even at short distances where direct line recognition would be impossible, thus resolving the contradiction between close spacing and line visibility.
2Device complexity
If conventional line recognition is used in platooning, then system complexity is reduced, but path following accuracy deteriorates due to timing differences and error accumulation in multi-vehicle strings
Solution Approach 1:
The patent implements a feedback mechanism where line information is continuously transmitted from the preceding vehicle to following vehicles through V2V communication. This real-time feedback allows following vehicles to correct their path following based on updated line information from the leader, preventing error accumulation in multi-vehicle strings while maintaining relatively simple individual vehicle systems.
Solution Approach 2:
Instead of each vehicle independently recognizing the line (which causes timing differences and errors), the system creates a copy of the line information from the preceding vehicle and transmits it to following vehicles. This copying approach eliminates timing synchronization issues and prevents error accumulation, as all vehicles use the same reference line information without independent recognition errors.
3Productivity
If several vehicles simultaneously travel in platooning, then productivity is improved, but error accumulation occurs in the rear portion of the string
Solution Approach 1:
V2V communication acts as an intermediary that directly transmits accurate line information from the preceding vehicle to following vehicles, bypassing the error-prone independent recognition process. This mediator approach ensures that even vehicles at the rear of long platoons receive accurate line information directly from the leader, preventing error accumulation and maintaining reliability across the entire platoon while enabling high productivity through multi-vehicle simultaneous travel.
Data Source
AI summary
An apparatus for controlling platooning includes a recognizing device to recognize front information of a vehicle by using at least one sensor, a communication device to support vehicle to vehicle communication, and a processor connected with the recognizing device and the communication device. The processor acquires information on a first line in front of the vehicle, through the recognizing device, receives information on a second line, which is transmitted from a preceding vehicle, through the communication device, generates information on a third line by using the information on the first line and the information on the second line, based on information on the preceding vehicle, generates information on a final line by using the information on the first line, the information on the second line, and the information on the third line, and plans a path for the platooning by utilizing the information on the final line.