4 research outputs found
Control of platooned vehicles in presence of traffic shock waves
Vehicle platooning has been attracting attention recently because of its ability to improve road capacity, safety and fuel efficiency. Vehicles communicate using Vehicle-toVehicle (V2V) wireless communication, making their status (acceleration, position, etc.) available to other vehicles. Shock waves, i.e. zones of reduced traffic speed that propagate upstream, are a well known emergent traffic phenomenon. Since vehicles entering such a zone need to decelerate sharply, shock waves cause a deterioration of fuel economy, driving comfort, and safety. While typically caused by bad driving behavior, recent studies have shown that it is possible to diminish or dissipate shock waves by applying certain good driving behavioral patterns. In this work, we use the information about the traffic situation to adapt the reference speed profile of the platoon we control, in order to mitigate the effect of a shock wave coming from downstream. The platoon leader receives the velocity of the vehicles downstream of the platoon and distance gap between them using V2V communication and it computes the shock wave speed. We show that by doing this we reduce the fuel consumption of the vehicles in the platoon, and improve the traffic situation by helping dissipate the shock wave. We validate our results using microscopic models with the help of a toolchain composed of Matlab, and the SUMO traffic simulator
Considerate and Cooperative Model Predictive Control for Energy-Efficient Truck Platooning of Heterogeneous Fleets
Connectivity-enabled automation of distributed control systems allow for
better anticipation of system disturbances and better prediction of the effects
of actuator limitations on individual agents when incorporating a model.
Automated convoy of heavy-duty trucks in the form of platooning is one such
application designed to maintain close gaps between trucks to exploit drafting
benefits and improve fuel economy, and has traditionally been handled with
classically-designed connected and adaptive cruise control (CACC). This paper
is motivated by demonstrated limitations of such a control strategy, in which a
classical CACC was unable to efficiently handle real-world road grade and
velocity transient disturbances without the assistance of fleet operator
intervention, and is non-adaptive to varied hardware and loading conditions of
the operating truck. This automation strategy is addressed by forming a
cooperative model predictive control (MPC) for eco-platooning that considers
interactions with trailing trucks to incentivize platoon harmonization under
road disturbances, velocity transients, and engine limitations, and further
improves energy economy by reducing unnecessary engine effort. This is
accomplished for each truck by sharing load, maximum engine power, transmission
ratios, control states, and intended trajectories with its nearest neighbors.
The performance of the considerate and cooperative strategy was demonstrated on
a real-world driving scenario against a similar non-considerate control
strategy, and overall it was found that the considerate strategy significantly
improved harmonization between the platooned trucks in a real-time
implementable manner.Comment: Appears in IEEE ACC 2022. 6 pages, 6 figure
Control of platooned vehicles in presence of traffic shock waves
Vehicle platooning has been attracting attention recently because of its ability to improve road capacity, safety and fuel efficiency. Vehicles communicate using Vehicle-toVehicle (V2V) wireless communication, making their status (acceleration, position, etc.) available to other vehicles. Shock waves, i.e. zones of reduced traffic speed that propagate upstream, are a well known emergent traffic phenomenon. Since vehicles entering such a zone need to decelerate sharply, shock waves cause a deterioration of fuel economy, driving comfort, and safety. While typically caused by bad driving behavior, recent studies have shown that it is possible to diminish or dissipate shock waves by applying certain good driving behavioral patterns. In this work, we use the information about the traffic situation to adapt the reference speed profile of the platoon we control, in order to mitigate the effect of a shock wave coming from downstream. The platoon leader receives the velocity of the vehicles downstream of the platoon and distance gap between them using V2V communication and it computes the shock wave speed. We show that by doing this we reduce the fuel consumption of the vehicles in the platoon, and improve the traffic situation by helping dissipate the shock wave. We validate our results using microscopic models with the help of a toolchain composed of Matlab, and the SUMO traffic simulator
Control of platooned vehicles in presence of traffic shock waves
Vehicle platooning has been attracting attention recently because of its ability to improve road capacity, safety and fuel efficiency. Vehicles communicate using Vehicle-toVehicle (V2V) wireless communication, making their status (acceleration, position, etc.) available to other vehicles. Shock waves, i.e. zones of reduced traffic speed that propagate upstream, are a well known emergent traffic phenomenon. Since vehicles entering such a zone need to decelerate sharply, shock waves cause a deterioration of fuel economy, driving comfort, and safety. While typically caused by bad driving behavior, recent studies have shown that it is possible to diminish or dissipate shock waves by applying certain good driving behavioral patterns. In this work, we use the information about the traffic situation to adapt the reference speed profile of the platoon we control, in order to mitigate the effect of a shock wave coming from downstream. The platoon leader receives the velocity of the vehicles downstream of the platoon and distance gap between them using V2V communication and it computes the shock wave speed. We show that by doing this we reduce the fuel consumption of the vehicles in the platoon, and improve the traffic situation by helping dissipate the shock wave. We validate our results using microscopic models with the help of a toolchain composed of Matlab, and the SUMO traffic simulator