Fuel-Efficient En Route Speed Planning and Tracking Control of Truck Platoons

This paper investigates the problem of speed planning and tracking control of a platoon of trucks on highways. The authors present a two-layered hierarchical framework for truck platoon coordination: a speed planning layer for en route speed profile calculation and a control layer for vehicle speed tracking. The speed planning algorithm is derived with regard to an average vehicle based on a combined fuel-time cost and receding dynamic programming. The idea of using an average vehicle instead of the platoon leader for speed planning makes the resulting speed profile more fuel-efficient for platoons comprised of vehicles differing in weight and size. The vehicle controller, a discrete time back-stepping control law, is designed on the basis of a nonlinear vehicle model considering road slope and heterogeneity of the vehicles. What makes the control algorithm more interesting is that it is strengthened by a novel string stability criterion. The effectiveness of the method is demonstrated by both numerical simulations and experiments with laboratory-scale Arduino cars.

• Record URL:
  • https://doi.org/10.1109/TITS.2018.2872607
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/41297384
• Supplemental Notes:
  • Copyright © 2019, IEEE.
• Authors:
  • Guo, Ge
  • Wang, Qiong
• Publication Date: 2019-8

Language

• English

Media Info

• Media Type: Digital/other
• Features: Figures; References; Tables;
• Pagination: pp 3091-3103
• Serial:
  • IEEE Transactions on Intelligent Transportation Systems
  • Volume: 20
  • Issue Number: 8
  • Publisher: Institute of Electrical and Electronics Engineers (IEEE)
  • ISSN: 1524-9050
  • Serial URL: http://ieeexplore.ieee.org/xpl/RecentIssue.jsp?punumber=6979

Subject/Index Terms

• TRT Terms: Algorithms; Automatic speed control; Dynamic programming; Fuel consumption; Nonlinear systems; Routing; Traffic platooning; Trucks; Vehicle to vehicle communications
• Geographic Terms: China
• Subject Areas: Freight Transportation; Highways; Operations and Traffic Management; Planning and Forecasting; Vehicles and Equipment;

Filing Info

• Accession Number: 01715812
• Record Type: Publication
• Files: TLIB, TRIS
• Created Date: Sep 3 2019 9:15AM