Vehicle Platoon Cooperative Control for Road Grade Transients

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Solution Overview

Problem

Conventional connected and adaptive cruise control systems for vehicle platoons struggle to efficiently handle real-world road grade transients and velocity transients without operator intervention, and are non-adaptive to varied vehicle hardware and loading conditions, limiting the implementation of autonomous vehicle systems in platooning operations.

Innovation Solution

The implementation of a cooperative control system for vehicle platoons using electronic control systems with bi-directional communication and distributed motion planning, which adjusts vehicle following distances and offsets to reduce fuel consumption and increase efficiency, while mitigating aerodynamic losses and maintaining platoon integrity.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Extent of automation

If conventional connected and adaptive cruise control systems are used for vehicle platoons, then basic platooning operation is achieved, but the system cannot efficiently handle real-world road grade transients and velocity transients without operator intervention

Engineering Contradiction:

Improveautonomous vehicle system capabilityVSAvoidhandling of road grade transients and velocity transients

Core Design Contradiction:

Extent of automationVSReliability

Solution Approach 1:

The control system dynamically adjusts control parameters based on real-time vehicle states, road grade conditions, and platoon configuration. The system transitions between different control modes (individual vehicle control vs. combined motion planning) depending on operating conditions, enabling adaptive response to transients without operator intervention.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The system continuously receives feedback from sensors regarding vehicle position, velocity, road grade, and aerodynamic conditions. This feedback loop enables the control system to detect and respond to transients in real-time, adjusting control actions to maintain platoon integrity under varying operating conditions.

Inventive Principle:

Principle #23Feedback

2Adaptability or versatility

If conventional cruise control systems are used, then platooning operation is maintained, but the systems are non-adaptive to varied vehicle hardware and loading conditions

Engineering Contradiction:

Improveadaptation to varied vehicle hardware and loading conditionsVSAvoidcontrol system configuration

Core Design Contradiction:

Adaptability or versatilityVSDevice complexity

Solution Approach 1:

The control system automatically adjusts control parameters including desired velocity, inter-vehicle spacing, and control gains based on detected vehicle mass, loading conditions, and hardware characteristics. This parameter adaptation enables the same control architecture to effectively manage diverse vehicle configurations without requiring manual reconfiguration.

Inventive Principle:

Principle #35Parameter changes

Solution Approach 2:

The system performs self-characterization by automatically detecting and adapting to its own control authority and vehicle properties during operation. This self-service capability eliminates the need for manual system configuration or operator intervention when vehicle conditions change.

Inventive Principle:

Principle #25Self-service

3Use of energy by moving object

If vehicles travel in close proximity for platooning, then fuel efficiency is improved through aerodynamic benefits, but aerodynamic losses and safety concerns increase

Engineering Contradiction:

Improvefuel efficiencyVSAvoidaerodynamic losses and safety risks

Core Design Contradiction:

Use of energy by moving objectVSObject-affected harmful factors

Solution Approach 1:

The system dynamically optimizes inter-vehicle spacing based on operating conditions including velocity, road grade, and aerodynamic considerations. By adjusting spacing parameters in real-time, the system maximizes aerodynamic fuel savings while maintaining safety margins and managing aerodynamic interference effects.

Inventive Principle:

Principle #35Parameter changes

Data Source

PatentUS20230386343A1Apparatuses, methods, and systems of controlling vehicle platoons

Publication Date: 2023.11.30 CUMMINS INC

AI summary

A method of operating a platoon of vehicles may include determining a joint optimization of operating parameters of a forward vehicle of the platoon and a rearward vehicle of the platoon. The operating parameters of the forward vehicle may include vehicle motion plan parameters for the forward vehicle. The operating parameters of the rearward vehicle may include suggested control actions for the second vehicle. The method may include wirelessly transmitting from the forward vehicle the vehicle motion plan parameters for the forward vehicle and the suggested control actions for the rearward vehicle, wirelessly receiving at the forward vehicle following vehicle capability parameters indicating capability of the following vehicle, determining in response to the following vehicle capability parameters an updated joint optimization including updated vehicle motion plan parameters for the forward vehicle, and controlling motion of the forward vehicle in response to the updated vehicle motion plan parameters.