Truck Platooning Lateral Control via Dual Lane Detectors
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Solution Overview
Problem
Current platooning systems for heavy trucks face challenges in maintaining stable lateral control and reducing latency in vehicle following, especially at close distances, due to limitations in sensor latency, camera field of view, and signal quality, which can lead to resonant kinematic behavior and steering errors.
Innovation Solution
A method utilizing a steering controller coupled with a headway controller and lateral controller, employing dual lane side detectors spaced wider than the vehicle's width to provide accurate lateral distance control and damping functions, enhancing stability and reducing latency through simultaneous measurement and feedback control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If vehicle-to-vehicle communication is used to transmit vehicle states wirelessly, then longitudinal vehicle following control is sufficiently accurate, but lateral vehicle following control becomes cumbersome and delayed
Solution Approach 1:
The patent segments the control system into two independent pathways: wireless communication for longitudinal control and direct sensor measurement for lateral control. This segmentation allows each pathway to use the most appropriate technology for its specific function, eliminating the latency bottleneck in lateral control while maintaining the simplicity of wireless communication for longitudinal control.
Solution Approach 2:
The patent introduces lane marking detectors as intermediary sensors that directly measure lateral position relative to lane markings. These detectors serve as intermediaries between the vehicle and the road environment, providing real-time lateral position data without relying on wireless communication from the lead vehicle, thus eliminating communication latency in lateral control.
2Productivity
If trucks follow at close distance to maximize road usage, then platooning benefits increase, but sensor latency and limited field of view cause control delays and instability
Solution Approach 1:
The patent merges multiple sensor types (camera-based lane detectors, distance sensors, steering controllers) into an integrated control system. This fusion of sensor data and control functions enables reliable close-distance platooning by combining the advantages of different sensing modalities to overcome individual limitations regarding latency and field of view.
Solution Approach 2:
The patent implements continuous feedback control where lane detectors constantly monitor lateral position relative to lane markings and provide real-time correction signals to the steering controller. This closed-loop feedback system maintains stable lateral control even at close following distances by continuously adjusting steering based on actual position deviations rather than relying on delayed communication data.
3Device complexity
If a single camera is used for lateral control, then device complexity is reduced, but measurement accuracy and responsiveness deteriorate
Solution Approach 1:
The patent transitions from using a single camera viewing angle to a multi-dimensional sensing approach by deploying lane detectors at multiple locations on the vehicle (front, rear, left, right). This spatial distribution of sensors creates a three-dimensional measurement capability that significantly improves lateral position accuracy and provides redundant measurement dimensions for more reliable control.
Data Source
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AI summary
A method for guiding a motor vehicle on the basis of image data when autonomously driving the motor vehicle in platooning formation following a leading vehicle, by a steering controller coupled to a steering system and a headway controller receiving and controlling a vehicle's interdistance relative to a leading vehicle, said method comprising controlling, by the steering controller, the vehicle's lateral distance relative to a first lane side, said steering controller receiving inputs from a first lane side detector mounted on a first front side location of the vehicle, and from a second lane side detector mounted on a second front side location opposing said first front side location, wherein said first and second lane side detectors are spaced apart over or wider than the vehicle's width.