Vehicle Distance Control With Delay Compensation During Lead Deceleration
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Solution Overview
Problem
Existing vehicle-to-vehicle distance control systems fail to maintain a safe distance when a leading vehicle decelerates, leading to potential collisions due to response delays in the vehicle velocity control unit, which causes the vehicle-to-vehicle distance to become shorter than the target distance.
Innovation Solution
A vehicle-to-vehicle distance control device that includes a delay distance calculation unit and a delay distance compensation unit to account for response delays in the vehicle velocity control unit, generating a delay distance compensation vehicle velocity command to maintain the target vehicle-to-vehicle distance during deceleration of the leading vehicle.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If feedforward control is used to achieve follow-up to the target vehicle-to-vehicle distance, then the response speed improves, but the vehicle-to-vehicle distance becomes shorter than the target distance due to response delay
Solution Approach 1:
The patent introduces a delay distance calculation unit that calculates the delay distance in advance based on the response delay time of the vehicle velocity control unit. This delay distance is then compensated by adding it to the target vehicle-to-vehicle distance before feedforward control is applied, ensuring that the actual distance maintains the correct safety margin even during rapid response scenarios
2Reliability
If the vehicle velocity control unit responds quickly to maintain target distance, then collision risk reduces, but the response delay causes the actual distance to become shorter than target
Solution Approach 1:
The patent applies preliminary anti-action by calculating and compensating for the delay distance before the control action is executed. The delay distance compensation unit adds the calculated delay distance to the target vehicle-to-vehicle distance, creating a pre-compensated target that anticipates the upcoming delay, thereby preventing the actual distance from becoming too short during the response period
3Speed
If lead vehicle decelerates to stop, then target vehicle-to-vehicle distance decreases, but response delay causes approach beyond stop distance leading to collision
Solution Approach 1:
The patent calculates the delay distance in advance based on the lead vehicle's velocity and the known response delay time of the control unit. This pre-calculated delay distance is added to the target vehicle-to-vehicle distance before deceleration begins, ensuring that even when the lead vehicle stops, the own vehicle maintains adequate spacing and does not approach beyond the safe stop distance
Data Source
AI summary
A vehicle-to-vehicle distance control device includes a delay distance calculation unit and a delay distance compensation unit. In a running scene in which the velocity of a leading vehicle changes, a delay distance generated owing to a delay in a vehicle velocity control unit is calculated, and, while a delay distance compensation vehicle velocity command to compensate for the delay distance is considered for a vehicle velocity command, an actual vehicle-to-vehicle distance is controlled to be matched with a target track from an initial value of the vehicle-to-vehicle distance until arrival at a target vehicle-to-vehicle distance obtained after the leading vehicle accelerates/decelerates.