Establishing Safety for Heavy Duty Vehicle Platooning: A Game Theoretical Approach

Gattami, Ather; Alam, Assad; Johansson, Karl Henrik; Tomlin, Claire J.

doi:10.3182/20110828-6-it-1002.02071

Cited by 32 publications

(16 citation statements)

References 3 publications

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“…JOSÉ GERARDO CARRILLO-GONZÁLEZ, Dr. 1,2 Correo: j.carrillo@correo.ler.uam.mx JESÚS ARÁMBURO-LIZÁRRAGA, Dr. 3 Correo: jaramburo@cucea.udg.mx LILIANA IBETH BARBOSA-SANTILLAN, Dr. 3 Correo: ibarbosa@cucea.udg.mx 1…”

Section: Discussionunclassified

“…The goal of this paper is to report a car-following model that gradually accelerates (decelerates) while maintaining safe conditions and at the same time supports time delays when refreshing the vehicles' position coordinates, that is, the data required by the model. In the ideal case no delay is present, as in [1], where two heavy-duty vehicles in motion (with identical braking capabilities) can maintain a minimum distance of 1.2 m. Besides, if there are no delays in the feedback system and optimal controls are used in the system design, then the following factors make it possible to determine the minimum relative distance: velocity, relative velocity, and vehicle characteristics.…”

Section: Introductionmentioning

confidence: 99%

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Acceleration (Deceleration) Model Supporting Time Delays to Refresh Data

Carrillo-González

Lizárraga²,

Barbosa-Santillán³

2018

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This paper proposes a mathematical model to regulate the acceleration (deceleration) applied by self-driving vehicles in car-following situations. A virtual environment is designed to test the model in different circumstances: (1) the followers decelerate in time if the leader decelerates, considering a time delay of up to 5 s to refresh data (vehicles position coordinates) required by the model, (2) with the intention of optimizing space, the vehicles are grouped in platoons, where 3 s of time delay (to update data) is supported if the vehicles have a centre-to-centre spacing of 20 m and a time delay of 1 s is supported at a spacing of 6 m (considering a maximum speed of 20 m/s in both cases), and (3) an algorithm is presented to manage the vehicles’ priority at a traffic intersection, where the model regulates the vehicles’ acceleration (deceleration) and a balance in the number of vehicles passing from each side is achieved.

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Section: Discussionunclassified

Section: Introductionmentioning

confidence: 99%

Acceleration (Deceleration) Model Supporting Time Delays to Refresh Data

Carrillo-González

Lizárraga²,

Barbosa-Santillán³

2018

PROMET

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“…e result showed that the lateral distribution of autonomous trucks has a significant effect on pavement infrastructure, and autonomous trucks could be highly beneficial to asphalt pavements if controlled appropriately [60].…”

Section: Future Workmentioning

confidence: 99%

Fuel Economy in Truck Platooning: A Literature Overview and Directions for Future Research

Zhang

Chen

et al. 2020

Journal of Advanced Transportation

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A truck platoon is a set of virtually linked trucks that travel in tandem with small intervehicle distances. Several studies have proved that traveling in platoons can significantly improve fuel economy due to the reduced aerodynamic drag. However, most literature only provides scattered pieces of information regarding fuel economy in truck platoons. Therefore, a literature survey is needed to understand what has been studied and what problems remain to be further addressed. This paper presents an overview of existing studies to illustrate the state of the art about fuel savings for truck platooning. Specifically, it summarized the methodologies, the contributing factors of fuel consumption, the coordination methods to improve the platooning rate, and the look-ahead control strategies to generate fuel-efficient speed profiles for each vehicle driving in a platoon over different road grades. After that, the autonomous truck platooning was introduced, and we raised and discussed a couple of outstanding questions to be addressed in future work.

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“…In [23], the authors modeled vehicles in platoons as hybrid systems, synthesized safety controllers, and analyzed throughput. Reachability analysis was used in [24] to analyze a platoon of two trucks in order to minimize drag by minimizing the following distance while maintaining collision avoidance safety guarantees. Finally, [25] provided a method for guaranteeing string stability and eliminating accordion effects for a heterogeneous platoon of vehicles with linear time-invariant dynamics.…”

Section: Introductionmentioning

confidence: 99%

Reachability-Based Safety and Goal Satisfaction of Unmanned Aerial Platoons on Air Highways

Chen

Fisac

et al. 2017

Journal of Guidance, Control, and Dynamics

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Recently, there has been immense interest in using unmanned aerial vehicles (UAVs) for civilian operations. As a result, unmanned aerial systems traffic management is needed to ensure the safety and goal satisfaction of potentially thousands of UAVs flying simultaneously. Currently, the analysis of large multi-agent systems cannot tractably provide these guarantees if the agents' set of maneuvers is unrestricted. In this paper, platoons of UAVs flying on air highways is proposed to impose an airspace structure that allows for tractable analysis. For the air highway placement problem, the fast marching method is used to produce a sequence of air highways that minimizes the cost of flying from an origin to any destination. The placement of air highways can be updated in real-time to accommodate sudden airspace changes. Within platoons traveling on air highways, each vehicle is modeled as a hybrid system. Using Hamilton-Jacobi reachability, safety and goal satisfaction are guaranteed for all mode transitions. For a single altitude range, the proposed approach guarantees safety for one safety breach per vehicle; in the unlikely event of multiple safety breaches, safety can be guaranteed over multiple altitude ranges. We demonstrate the platooning concept through simulations of three representative scenarios.

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Establishing Safety for Heavy Duty Vehicle Platooning: A Game Theoretical Approach

Cited by 32 publications

References 3 publications

Acceleration (Deceleration) Model Supporting Time Delays to Refresh Data

Acceleration (Deceleration) Model Supporting Time Delays to Refresh Data

Fuel Economy in Truck Platooning: A Literature Overview and Directions for Future Research

Reachability-Based Safety and Goal Satisfaction of Unmanned Aerial Platoons on Air Highways

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