Row Running Control System Disturbance Resistance
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Solution Overview
Problem
Existing row running control systems are weak in resisting disturbances, leading to unstable behavior and inter-vehicle distance errors when a vehicle other than the lead encounters a disturbance, as they fail to effectively manage the relative relationships and running control amounts among vehicles.
Innovation Solution
A row running control system that determines running control amounts for each vehicle to minimize a predetermined evaluation value, considering relative relationships and running control amounts, with weights adjusted based on positional relationships and running speeds to balance control interventions and prioritize stability and fuel efficiency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If each succeeding vehicle controls the inter-vehicle distance between itself and the lead vehicle independently, then the lead vehicle's disturbance response is rapid and error propagation is prevented, but the system becomes weak when non-lead vehicles encounter disturbances and inter-vehicle distance stability deteriorates
Solution Approach 1:
The patent merges the control objectives of all vehicles into a single centralized control system that simultaneously optimizes inter-vehicle distances for all vehicle pairs. Instead of each vehicle independently controlling its distance to the lead vehicle, the centralized system computes control amounts that consider all relative relationships among all vehicles in the row, thereby preventing both error propagation from the lead vehicle and instability when non-lead vehicles encounter disturbances.
Solution Approach 2:
The patent implements feedback control by continuously monitoring the actual inter-vehicle distances and relative speeds between all vehicle pairs, comparing them with target values, and adjusting control amounts based on the deviations. The evaluation function incorporates feedback terms that penalize deviations from target inter-vehicle distances and excessive relative speeds, enabling the system to maintain stability when any vehicle encounters disturbances.
2Reliability
If centralized control optimizes all inter-vehicle distances simultaneously, then disturbance resistance improves, but control complexity increases
Solution Approach 1:
The patent transforms the complex multi-vehicle control problem into an optimization problem by defining an evaluation function with specific parameters: inter-vehicle distance errors, relative speeds, and control amounts. By changing the control approach from direct mechanical coordination to mathematical optimization of these parameters, the system achieves centralized coordination while maintaining manageable complexity through standardized computational procedures.
Data Source
AI summary
A row running control system is a system that controls the running state of each vehicle by optimum control (LQ control) so that five vehicles, for example, run in a row. Acceleration instruction values for the succeeding four vehicles among the five vehicles are determined as values minimizing predetermined evaluation functions, and the evaluation functions are calculated based on the errors of the distances between the respective vehicles, relative speeds between the respective vehicles and the acceleration instruction values for the respective vehicles.