SYSTEM AND METHOD FOR OPERATING A FOLLOWER VEHICLE IN A VEHICLE PLATOON
First Claim
1. A method for operating a follower vehicle in a vehicle platoon, comprising the steps of:
- (a) determining, during operation, whether the follower vehicle is operating in a normal state or an abnormal state based on;
an operation condition of a component of the follower vehicle, ora communication between the follower vehicle and a preceding vehicle in the vehicle platoon; and
(b) selecting a first control mode if the follower vehicle is in the normal state and a second control mode if the follower vehicle is in the abnormal state so as to control movement of the follower vehicle using the selected control mode;
wherein in the first control mode, the follower vehicle uses communication data received from the preceding vehicle in the vehicle platoon to control its movement; and
in the second control mode, the follower vehicle uses data obtained by one or more of its sensors to control its movement.
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Abstract
A method for operating a follower vehicle in a vehicle platoon includes determining, during operation, whether the follower vehicle is operating in a normal state or an abnormal state based on an operation condition of a component of the follower vehicle, or a communication between the follower vehicle and a preceding vehicle in the vehicle platoon. The method further includes selecting a first control mode if the follower vehicle is in the normal state and a second control mode if the follower vehicle is in the abnormal state so as to control movement of the follower vehicle using the selected control mode. In the first control mode, the follower vehicle uses communication data received from the preceding vehicle in the vehicle platoon to control its movement. In the second control mode, the follower vehicle uses data obtained by one or more of its sensors to control its movement.
44 Citations
20 Claims
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1. A method for operating a follower vehicle in a vehicle platoon, comprising the steps of:
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(a) determining, during operation, whether the follower vehicle is operating in a normal state or an abnormal state based on; an operation condition of a component of the follower vehicle, or a communication between the follower vehicle and a preceding vehicle in the vehicle platoon; and (b) selecting a first control mode if the follower vehicle is in the normal state and a second control mode if the follower vehicle is in the abnormal state so as to control movement of the follower vehicle using the selected control mode; wherein in the first control mode, the follower vehicle uses communication data received from the preceding vehicle in the vehicle platoon to control its movement; and
in the second control mode, the follower vehicle uses data obtained by one or more of its sensors to control its movement.- View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 20)
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12. The method in accordance with claim 10, wherein the control of the deviation is based on
θ-
i(t)=PIDSteer(θ
L)where the PIDsteer function is defined by
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i(t)=PIDSteer(θ
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13. The method in accordance with claim 11, wherein the control of the velocity further comprises the step of:
adjusting Kp, Ki, Kd so as to control the velocity of the follower vehicle.
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14. The method in accordance with claim 12, wherein the control of the deviation further comprises the step of:
adjusting Kpl, Kil, Kdl so as to control the deviation of the follower vehicle.
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15. The method in accordance with claim 13, wherein the adjustment of Kp, Ki, Kd is dependent on a travel velocity of the follower vehicle.
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16. The method in accordance with claim 14, wherein the adjustment of Kpl, Kil, Kdl is dependent on a travel velocity of the follower vehicle.
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17. The method in accordance with claim 1, further comprising the step of:
momentarily switching from the first control mode to the second control mode when the follower vehicle is in the normal state.
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18. The method in accordance with claim 5, further comprising the step of:
operating the follower vehicle in a third mode at a predetermined time interval during operation of the follower vehicle, wherein in the third mode, the follower vehicle; determines the distance between the follower vehicle and the preceding vehicle and the deviation of the preceding vehicle with respect to the follower vehicle using the one or more sensors of the follower vehicles as well as based on data communicated from the preceding vehicle; compares a distance and deviation measure determined based on data obtained from the one or more sensors of the follower vehicles with a distance and deviation measure determined based on data communicated from the preceding vehicle; and switches to the second control mode if the comparison result has an difference larger than a predetermined value.
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20. The system in accordance with claim 18, wherein the one or more processors are further arranged to determine a distance between the follower vehicle and the preceding vehicle and a deviation of the preceding vehicle with respect to the follower vehicle;
- the system further comprises;
a controller arranged to control a velocity of the follower vehicle so as to maintain a reference distance between the follower vehicle and the preceding vehicle; and control turning of wheels of the follower vehicle so as to enable the follower vehicle to follow the deviation of the preceding vehicle; thereby allowing the follower vehicle to substantially follow a trajectory of the preceding vehicle.
- the system further comprises;
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19. A system for operating a follower vehicle in a vehicle platoon, comprising:
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a communication module arranged to receive a signal indicative of the operation condition of a component or a communication signal transmitted from the preceding vehicle; and one or more processors arranged to determine, during operation, whether the follower vehicle is operating in a normal state or an abnormal state based on the received signal indicative of the operation condition of a component of the follower vehicle, or a communication between the follower vehicle and a preceding vehicle in the vehicle platoon; and select a first control mode if the follower vehicle is in the normal state and a second control mode if the follower vehicle is in the abnormal state so as to control movement of the follower vehicle using the selected control mode; wherein in the first control mode, the follower vehicle uses communication data received from the preceding vehicle in the vehicle platoon to control its movement; and
in the second control mode, the follower vehicle uses data obtained by one or more of its sensors to control its movement.
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Specification