Experimental evaluation of decentralized cooperative cruise control for heavy-duty vehicle platooning

Alam, Assad; Mårtensson, Jonas; Johansson, Karl Henrik

doi:10.1016/j.conengprac.2014.12.009

Cited by 104 publications

(41 citation statements)

References 33 publications

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“…Even though the difference is little, it can save higher amounts at the continuously disturbed traffic conditions. Furthermore, shorter ranges obtained by quadratic spacing policy may decrease air drag, and reduce the consumption of vehicle [22] [23].…”

Section: Resultsmentioning

confidence: 99%

Impact of different spacing policies for adaptive cruise control on traffic and energy consumption of electric vehicles

Bayar

Sajadi-Alamdari

Viti

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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Abstract-This paper assesses the impact of different spacing policies for Adaptive Cruise Control (ACC) systems on traffic and environment. The largest deal of existing studies focus on assessing the performance in terms of safety, while only few deal with the effect of ACC on the traffic flow and the environment. In particular, very little is know on traffic stability and energy consumption. In this study, the vehicles equipped with ACC are modelled and controlled by two different spacing policies. Besides, Human Driving Behavior (HDB) is modelled by using Gipps model for comparison and for simulating different penetration rates. As distinguished from other studies, vehicle dynamics and energy consumption of an electric car is formulated, which has completely different characteristics and limitations than combustion engine cars. Hence the study aims at providing additional understanding of how ACC-equipped electric vehicles will behave in dense traffic conditions. HDB and ACC vehicles are placed in a roundabout at different penetration rates. String stability and energy consumption are investigated by giving a shock wave to a stable traffic condition. It is found that ACC with quadratic spacing policy has significantly positive effects on string stability and energy consumption.

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Section: Resultsmentioning

confidence: 99%

Impact of different spacing policies for adaptive cruise control on traffic and energy consumption of electric vehicles

Bayar

Sajadi-Alamdari

Viti

et al. 2016

2016 24th Mediterranean Conference on Control and Automation (MED)

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“…If there is no restriction on G, one can set Z D 0 and use G D M in the LMI conditions. The general form of G in (52) allows one to impose some restrictions on G. Let us illustrate this for the particular choice of the measurement vector y i as in (8). In this case, we can represent the feedback gain matrix as F D F p F v F a .…”

Section: Remarkmentioning

confidence: 99%

“…The pioneering works in this area date back to the late 60s and early 70s [1][2][3][4]. Various enabling technological advances in control and (wireless) communications triggered a renewed interest in this topic, as can be observed from the recent publications [5][6][7][8][9][10] and the references therein. There is also strong theoretical interest in the platoon control problem because of the links to the fundamental research topics like structured controller synthesis, decentralized/distributed/networked control, cooperation, and consensus (e.g., [11][12][13][14][15][16][17][18]).…”

Section: Introductionmentioning

confidence: 99%

“…Predecessor following and bidirectional control are essentially decentralized as they can be realized with the use of onboard sensors, while multi-look ahead controllers would necessarily require communication among the vehicles. Distributed implementations in which vehicle control commands are communicated in a certain network topology are being referred to as 'cooperative adaptive cruise control (CACC)' [5][6][7][8]35]. Within the context of longitudinal platoon control, tractable solutions of the structured H 2 -optimal control problem have only been obtained recently with simple vehicle models (as single and double integrators) and for the symmetric bidirectional control scheme [18].…”

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confidence: 99%

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Robust static output feedback synthesis for platoons under leader and predecessor feedback

Köroğlu

Falcone

2016

Intl J Robust & Nonlinear

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A multi-objective static output feedback synthesis problem is considered for the control of vehicle platoons under leader and predecessor feedback. Sufficient linear matrix inequality conditions are derived for the solvability of the problem in a way to facilitate static feed-forward as well. A novel velocity-dependent spacing policy is integrated into the control scheme together with a platoon model in which the emphasis on the predecessor information can be adjusted by a normalized scalar weight. It is shown that the string stability of the spacing errors and the acceleration signals can always be guaranteed by choosing this weight sufficiently small. Moreover, provided that the time headway is chosen sufficiently large, the synthesis can be performed in a way to avoid the amplification of acceleration energies if compared with the leader. As a particularly convenient feature, the target spacing between the vehicles becomes smaller when moving backward along the platoon. The total increase in the platoon length caused by the introduction of the velocity-dependent scheme is shown to be bounded and decreasing with decreasing predecessor weight. It is also established that the predecessor weight can be adjusted smoothly over time without endangering the formation stability. In addition to the optimization of the parameters of common fixed-structure controllers for general vehicle models, the proposed synthesis procedure provides various tools for improving robustness against measurement noise, communication delay, and model uncertainty.It is quite common to consider the platoon control problem based on linear vehicle models obtained by favor of exact feedback linearization [19][20][21][22]. The simplest one is a kinematic model referred to as the double integrator: acceleration (as the control input) to velocity, velocity to position. Because of the (typically uncertain) dynamics of the engine, it is necessary to consider slightly more advanced models in practical designs. The vehicle as a whole is hence usually viewed as a first-order system identified by a (possibly velocity-dependent) time constant referred to as the 'time lag ' [19, 23, 24]. This model is used to represent the transfer function from the given acceleration command to the actual acceleration of the vehicle. In more advanced models, a control input (i.e., actuator) delay is also assumed [5][6][7][25][26][27][28]. It is common to consider identical vehicle models with which the corresponding platoons are referred to as 'homogenous'. The analysis and synthesis problems get much more complicated for 'heterogenous' platoons in which the vehicles have different models [5,29]. For successful practical designs, one needs to take into account the uncertainty in the time lag and/or the actuator delay (as might be encountered in trucks due to switching dynamics with gear changes) in addition to heterogeneity [26].The main goal in a platoon formation is to maintain desirably small spacings between the vehicles by realizable acceleration/deceleration comman...

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“…Such technology has great potentials for improving traffic efficiency, reducing fuel consumption, and enhancing vehicle safety. Cooperative adaptive cruise control (CACC) is a typical application of V2V communication, where each vehicle automatically responds to the vehicle immediately ahead based on radar while also monitoring the motion of the designated leader via V2V communication; see Kianfar et al (2012), Alam et al (2015), and di Bernardo et al (2015). However, implementing CACC in real traffic is challenging since it requires vehicles of high level of autonomy to travel together, which rarely occurs in practice due to the low penetration of such vehicles.…”

Section: Introductionmentioning

confidence: 99%

Robust Stability Analysis for Connected Vehicle Systems

et al. 2016

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Experimental evaluation of decentralized cooperative cruise control for heavy-duty vehicle platooning

Cited by 104 publications

References 33 publications

Impact of different spacing policies for adaptive cruise control on traffic and energy consumption of electric vehicles

Impact of different spacing policies for adaptive cruise control on traffic and energy consumption of electric vehicles

Robust static output feedback synthesis for platoons under leader and predecessor feedback

Robust Stability Analysis for Connected Vehicle Systems

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