Platoon Lane Change Sequencing with V2V Gap Creation
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Solution Overview
Problem
Current Cooperative Adaptive Cruise Control (CACC) systems face challenges in safely executing lane changes for platooning vehicles, particularly when non-participating vehicles obstruct the path in adjacent lanes, leading to reduced efficiency and safety in dense traffic conditions.
Innovation Solution
A method for lane change involving vehicles communicating through V2V communication, where the first vehicle changes lanes and positions itself to create space for the second vehicle, allowing it to safely change lanes by determining safety through sensor data sharing and redundant sensor coverage, enabling automatic or autonomous lane changes without the need for costly long-range rear sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If the last vehicle of the platoon enters the other lane first, then the vehicles of the platoon can change lanes systematically, but a non-participating vehicle may overtake the last vehicle and remain in the other lane, preventing the next platooning vehicle from changing lane
Solution Approach 1:
The first vehicle performs a preliminary action by changing lanes and positioning itself behind its original position before the second vehicle changes lane. This creates a predetermined safe configuration that prevents non-participating vehicles from obstructing the second vehicle's lane change path
Solution Approach 2:
The first vehicle acts as an intermediary by positioning itself between the platoon and the potential obstructing vehicle in the adjacent lane. This intermediary positioning ensures that when the second vehicle changes lanes, the path is clear of non-participating vehicles
2Difficulty of detecting and measuring
If equippment for long-range rear sensors is added to detect non-participating vehicles, then detection capability is improved, but system cost and complexity increase
Solution Approach 1:
The system uses self-service by leveraging existing sensor equipment on vehicles to perform detection functions. Instead of adding dedicated long-range rear sensors, the method utilizes sensor data already available on the platooning vehicles to detect non-participating vehicles and make lane change decisions
Solution Approach 2:
The existing sensor equipment serves multiple functions: it detects both participating platoon vehicles and non-participating vehicles, enabling both platoon formation maintenance and lane change safety detection without requiring separate specialized sensor systems
Data Source
Figure 1
Figure 2
Figure 3a~3b
AI summary
The invention relates to a method for a lane change of a plurality of vehicles (1-3) on a multi-lane road, the method comprising - controlling the vehicles to travel in a row in a first lane (L1), with a first of the vehicles (1) in front of a second of the vehicles (2), - thereafter controlling the first vehicle (1) so as to change lane to a second lane (L2) adjacent to the first lane (L1), - thereafter positioning the first vehicle (1) in a first position (P1) in the second lane (L2), and positioning the second vehicle (2) in a second position (P2) in the first lane (L1), the first position (P1) being less advanced in the direction of travel (M) than the second position (P2), and - thereafter controlling the second vehicle (2) so as to change lane to the second lane (L2), and thereby move in front of the first vehicle (1).