Title
A Multi-Layer Control Approach to Truck Platooning: Platoon Cohesion subject to Dynamical Limitations
Author
Zegers, J.C.
Semsar Kazerooni, E.
Fusco, M.
Ploeg, J.
Publication year
2017
Abstract
This paper presents a multi-layer approach to Cooperative Adaptive Cruise Control (CACC) to improve the platoon cohesion subject to limited vehicle actuation capabilities. The objective of the design is to guarantee that the vehicles in the platoon keep their desired relative position, while maintaining desirable platoon properties in terms of disturbance attenuation. To this end, a multi-layered control architecture is proposed. On the lower layer, a unidirectional CACC is employed, involving information exchange in upstream direction. On the upper layer, a coordination variable is exchanged from each vehicle towards its direct preceding vehicle, thus yielding downstream information exchange. As a result, the leading vehicle is aware of the capabilities of the following vehicles, and therefore, is able to adapt its motion, if needed. Consequently, cohesion of a heterogeneous platoon is guaranteed, even in the case of physical limitations, like engine power limits. The developed technique is verified through simulations and experiments.
Subject
Fluid & Solid Mechanics
IVS - Integrated Vehicle Safety
TS - Technical Sciences
Traffic
Mobility
Vehicular platooning
Truck platooning
To reference this document use:
http://resolver.tudelft.nl/uuid:e2bcbd49-167e-4732-a447-9f010539ed8e
TNO identifier
776765
Publisher
Institute of Electrical and Electronics Engineers Inc.
Source
Presented at IEEE International Conference on Models and Technologies for Intelligent Transportation Systems, MT-ITS, 26-28 June 2017
Document type
conference paper