Transverse Guidance for Vehicle Platoons Using Virtual Lane Course
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Solution Overview
Problem
Conventional methods for automatic transverse guidance in vehicle platoons face challenges due to insufficient detection of lane markings at short distances, leading to swaying movements and difficulty in maintaining lane changes, especially as platoon length increases, with sensor-based solutions being costly and technically complex.
Innovation Solution
A method that determines a fused traffic lane course by combining map information, lane marking detection, and object tracking data from multiple vehicles, using mathematical models like polynomials and clothoid models, to provide a stable reference trajectory for transverse guidance, allowing vehicles to maintain lane position and adjust lane changes without rear-following dependency.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If sensor-based rear-area monitoring with free space recognition is implemented to prevent dangerous lane changes, then lane change safety is improved, but device complexity and technical expenditure increase
Solution Approach 1:
The patent uses virtual copies of lane marking information from map data and neighboring vehicles to create a virtual lane model, eliminating the need for expensive sensor-based free space recognition systems while maintaining lane change safety through alternative means
Solution Approach 2:
The patent introduces an intermediary virtual lane course model that mediates between raw sensor data and control decisions, allowing lane change safety to be determined through computational modeling rather than direct sensor-based free space monitoring
2Device complexity
If conventional object follower control aligns vehicles with the middle of the rear of the vehicle in front, then transverse guidance is simplified, but swaying movements increase from front to rear
Solution Approach 1:
The patent implements feedback by continuously determining the virtual lane course based on map data and neighboring vehicle positions, then using this information to actively correct transverse deviations, thereby stabilizing the platoon without increasing control complexity
Solution Approach 2:
The patent performs preliminary action by pre-determining the virtual lane course using map information and neighboring vehicle data before actual lane changes occur, allowing the platoon to anticipate and coordinate lane changes proactively, preventing swaying movements
3Ease of operation
If the entire following platoon follows the lead vehicle's lane change, then lane change coordination is simplified, but lane change safety decreases with increasing platoon length
Solution Approach 1:
The patent segments the platoon's lane change decision-making process by allowing each vehicle to independently determine its lane change capability based on the virtual lane course and neighboring vehicle positions, enabling coordinated yet independent lane change decisions that maintain safety in long platoons
Solution Approach 2:
The patent introduces dynamics by making the virtual lane course adaptive and continuously updated based on real-time map data and neighboring vehicle positions, allowing the lane change coordination strategy to dynamically adjust to platoon length and traffic conditions
Data Source
AI summary
The present disclosure relates to a method for the automatic transverse guidance of a following vehicle in a vehicle platoon. The method comprises determining and receiving a plurality of lane data. A lane course is able to be determined on the basis of the plurality of lane data and the following vehicle is able to be transversely guided on the basis of the determined lane course. The method is able to prevent an increase in swaying movements from the front to the rear in the vehicle platoon. In addition, the vehicles of the vehicle platoon are able to remain in the starting lane, even when a vehicle of the vehicle platform driving in front changes lane.