Vehicle Merging Control via Trajectory Mapping
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Solution Overview
Problem
Existing vehicle systems face challenges in managing vehicle flow at merging sections, particularly in avoiding collisions without relying on blocking mechanisms, which increase processing load and restrict the number of vehicles that can pass through.
Innovation Solution
A vehicle system that uses a mapping unit to determine the preceding-following relationship between vehicles based on position and velocity, allowing the control unit to manage travel and avoid collisions by determining which vehicle reaches the merging section earlier, thereby eliminating the need for blocking.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If blocking control is used at merging section, then collision avoidance is ensured, but processing load increases and vehicle throughput decreases
Solution Approach 1:
The system performs preliminary mapping of other vehicles' trajectories before they reach the merging section. By predicting future positions and trajectories in advance, the control system can prepare collision avoidance strategies without blocking, allowing vehicles to pass through continuously while maintaining safety.
Solution Approach 2:
The system continuously monitors actual vehicle positions and compares them with predicted trajectories. This feedback mechanism allows real-time adjustment of collision avoidance measures without requiring blocking control, thereby maintaining both safety and throughput.
2Reliability
If blocking control is used at merging section, then collision avoidance is ensured, but ground controller processing load increases
Solution Approach 1:
The mapping unit performs preliminary trajectory predictions and collision risk assessments before vehicles reach the merging section. This advance preparation reduces the real-time processing burden on the ground controller, as much of the computational work is done in advance rather than during critical merging operations.
Solution Approach 2:
Each vehicle is equipped with an in-vehicle control unit that performs local collision avoidance calculations based on mapped trajectory information. This distributes the processing load from the ground controller to individual vehicles, reducing the central system's burden while maintaining collision avoidance capability.
3Productivity
If RFID flag system is used to eliminate blocking, then vehicle throughput improves, but system reliability decreases due to flag setting/cancellation errors
Solution Approach 1:
The system continuously verifies actual vehicle positions against predicted trajectories and dynamically adjusts control instructions. This feedback mechanism provides redundant verification beyond simple RFID flags, ensuring that even if flag setting or cancellation fails, the system can detect and correct the error through continuous position monitoring and trajectory prediction.
Data Source
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AI summary
A vehicle system includes a travel route having a merging section with first entrance and second entrance, a plurality of vehicles configured to travel on the travel route in one direction, and a ground controller configured to communicate with the plurality of vehicles. Any other vehicle expected to enter the merging section from the first entrance when a first vehicle is expected to enter the merging section from the second entrance is mapped on the travel route of the first vehicle based on position and velocity of the first vehicle and position and velocity of the said other vehicle. A preceding-following relationship between the first vehicle and the said other vehicle is determined from the positions of the first vehicle and of the said other vehicle after the mapping, and travel of the first vehicle is controlled so as to avoid a collision with the said other vehicle.