Practical Lateral Control for Autonomous Platooning System of Heavy-Duty Trucks

In Japan, the New Energy and Industrial Technology Development Organization established a new project for reducing CO2 emissions called the "Energy ITS project" in 2008. This project aims to develop techniques for autonomous platooning of heavy-duty trucks and reduce their air resistance in expressway driving. Platooning requires both lateral and longitudinal control. This study describes novel lateral and longitudinal control methods. The lateral control method is based on path following, while the longitudinal control method uses information acquired from the front and rear trucks by inter-vehicle communication. Steering control methods are proposed to deal with road cant and deviations from a target course by a disturbance using feedforward control. The experimental results of autonomous platooning are provided to evaluate the effectiveness of these methods. In this experiment, a platoon is composed of four trucks of two types.

  • Availability:
  • Supplemental Notes:
    • Abstract used with permission of ITS Japan. Paper No. 4100.
  • Corporate Authors:

    ITS Japan

    Tokyo,   Japan 
  • Authors:
    • Sugimachi, Toshiyuki
    • Fukao, Takanori
    • Ario, Takuma
    • Suzuki, Yoshitada
    • Kawashima, Hiroki
  • Conference:
  • Publication Date: 2013


  • English

Media Info

  • Media Type: Digital/other
  • Features: Figures; Photos; References; Tables;
  • Pagination: 10p
  • Monograph Title: 20th ITS World Congress, Tokyo 2013. Proceedings

Subject/Index Terms

Filing Info

  • Accession Number: 01536482
  • Record Type: Publication
  • ISBN: 9784990493981
  • Files: TRIS
  • Created Date: Aug 28 2014 3:35PM