Platooning Collision Avoidance With Independent Transverse Control
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Solution Overview
Problem
Current platooning technologies fail to effectively manage real-time variations in transverse conditions, leading to potential collisions when obstacles move unexpectedly, as they do not consider the dynamic changes in transverse conditions during vehicle-to-vehicle communication and control.
Innovation Solution
A platooning control apparatus that enables a following vehicle to perform independent transverse control and determine whether a collision can be avoided by generating a collision avoidance path and controlling the vehicle to travel on it, even if the leading vehicle is fully braked, allowing for adaptive lane changes based on available paths and the braking status of the leading vehicle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If the leading vehicle provides collision avoidance control commands to following vehicles, then collision avoidance capability is improved, but the system cannot properly cope with real-time variations in transverse conditions
Solution Approach 1:
The collision avoidance function is segmented between the leading vehicle (which detects obstacles and initiates avoidance) and following vehicles (which independently evaluate and execute avoidance based on their own sensor data and generated paths). This segmentation allows each vehicle to independently assess real-time transverse conditions and make adaptive decisions, resolving the contradiction between centralized control reliability and decentralized adaptability.
Solution Approach 2:
Following vehicles generate collision avoidance paths in advance based on predicted obstacle positions and their own transverse conditions. When the leading vehicle initiates collision avoidance, following vehicles already have pre-computed paths ready for immediate execution, enabling rapid response to transverse condition variations without waiting for detailed commands from the leading vehicle.
2Stability of the object's composition
If following vehicles operate according to control commands from the leading vehicle, then platooning coordination is improved, but undesired situations occur when obstacles move before collision avoidance measures are delivered
Solution Approach 1:
Following vehicles continuously monitor their own environment through onboard sensors and provide feedback about actual transverse conditions and obstacle positions. This feedback loop allows them to detect when obstacles have moved independently of the leading vehicle's commands and to adjust their collision avoidance paths in real-time, maintaining both platooning coordination and collision avoidance reliability.
Solution Approach 2:
The collision avoidance system is made dynamic by allowing following vehicles to independently recalculate and update their avoidance paths based on real-time transverse conditions. Rather than rigidly following pre-sent commands, following vehicles dynamically adjust their avoidance maneuvers to account for moving obstacles, ensuring reliable collision avoidance while maintaining platooning structure.
Data Source
AI summary
A platooning control system is based on active collision avoidance control. The system includes a first platooning control apparatus located in a foremost leading vehicle in a platoon for determining whether it is possible for the leading vehicle to collide when the leading vehicle is fully braked and whether it is possible to avoid collision when it is determined that collision will occur when the leading vehicle is fully braked, calculating a longitudinal deceleration profile and a transverse path of the leading vehicle, and collision with following vehicles that follow the leading vehicle, and transmitting the calculation result to the following vehicles. The system includes a second platooning control apparatus located in a following vehicle for determining whether it is possible for the following vehicle to avoid collision according to whether, from the first platooning control apparatus, it is possible for the leading vehicle to collide when the leading vehicle is fully braked and whether it is possible to avoid collision when it is determined that collision will occur when the leading vehicle is fully braked, and allowing the following vehicle to follow the leading vehicle or perform collision avoidance control separately from the leading vehicle.