Vehicle Queue Control Using Lead Trajectory and Heading Feedback
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Solution Overview
Problem
Maintaining the stability of an intelligent vehicle queue, where the traveling status of following vehicles needs to be consistent with that of the leading vehicle to prevent deviations from the expected track.
Innovation Solution
A vehicle control method that involves obtaining information about the leading vehicle's speed and expected track, determining a target traveling location and heading angle based on this information, and adjusting the vehicle's trajectory to maintain a safe distance and alignment with the leading vehicle, using V2X and V2V communication to ensure stability during both queue formation and maintenance phases.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Speed
If following vehicles autonomously determine their own traveling locations without centralized coordination, then vehicle independence and response speed improve, but queue stability and track consistency deteriorate
Solution Approach 1:
The system implements continuous feedback loops where following vehicles monitor the leading vehicle's position, speed, and trajectory in real-time, and adjust their own parameters accordingly. This closed-loop control ensures that individual vehicle responses are continuously corrected to maintain overall queue stability and track consistency, resolving the contradiction between autonomous response speed and queue stability.
2Productivity
If the distance between following vehicle and leading vehicle is reduced to improve travel efficiency, then productivity increases, but collision risk and safety deteriorate
Solution Approach 1:
The system dynamically adjusts the longitudinal distance between following and leading vehicles based on real-time conditions such as vehicle speed, acceleration, road gradient, and traffic conditions. This dynamic distance adjustment allows the queue to maintain optimal spacing for efficiency while ensuring sufficient safety margins under varying operational conditions, resolving the contradiction between travel efficiency and safety.
3Stability of the object's composition
If following vehicles closely replicate the leading vehicle's trajectory to maintain queue stability, then track consistency improves, but adaptability to individual vehicle conditions deteriorates
Solution Approach 1:
The system applies local quality by allowing each following vehicle to customize its trajectory replication based on its specific characteristics such as vehicle type, load conditions, suspension properties, and sensor accuracy. Each vehicle adjusts its following parameters locally according to its own conditions while still maintaining overall queue stability and track consistency, resolving the contradiction between track consistency and adaptability to vehicle conditions.
Data Source
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AI summary
A vehicle control method and a related apparatus are provided. The vehicle control method includes: obtaining first information and a location of a leading vehicle of a vehicle, where the first information includes a speed of the leading vehicle and/or an expected track of an intelligent vehicle queue (S301); and determining a target traveling location of the vehicle based on the first information and the location of the leading vehicle (S302). The control method further includes: The vehicle may obtain a heading angle of the leading vehicle (S501), determine a target heading angle of the vehicle based on the heading angle of the leading vehicle (S502), and control a vehicle traveling direction based on the target heading angle (S503). The control method can be applied to both a queue forming phase and a queue maintenance phase of the intelligent vehicle queue. This helps improve traveling efficiency of the intelligent vehicle queue.