Longitudinal motion control for vehicle platooning in mixed traffic based on virtual mass-spring-damper theory

Jiang, Luo; Ji, e; Ren, Yue; Wang, Hong

doi:10.1504/ijvd.2020.115061

Cited by 3 publications

(3 citation statements)

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“…However, they noticed that if the trucks are too close (i.e., 5 m gap), the air flow going through the engine is significantly reduced which results in the fans of all trucks behind the lead being continuously engaged. Jiang et al proposed a platooning control method based on the virtual mass-spring-damper theory to improve the platoon’s system safety in mixed traffic flows consisting of CAVs and human-driven vehicles (HDVs) ( 39 ). The study tested two types of mixed platoons composed of five CAVs and one HDV by using CarSim and Matlab/Simulink and found that the inter-vehicle spacing errors do not amplify as they propagate along the platoon.…”

Section: Literature Reviewmentioning

confidence: 99%

“…For Eco-CACC-U control, many researchers have taken a systematic approach to test and evaluate that particular technology (38)(39)(40)(41). Lammert et al evaluated fuel consumption results of two Class 8 tractor-trailer combinations platooned together compared with their stand-alone fuel consumption (42).…”

Section: Literature Reviewmentioning

confidence: 99%

“…The study tested two types of mixed platoons composed of five CAVs and one HDV by using CarSim and Matlab/Simulink and found that the inter-vehicle spacing errors do not amplify as they propagate along the platoon. The control method effectively improved the stability and safety of the mixed vehicular platoon ( 39 ).…”

Section: Literature Reviewmentioning

confidence: 99%

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Evaluating an Eco-Cooperative Automated Control System

Ahn

Farag

et al. 2022

Transportation Research Record: Journal of the Transportation R

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The paper evaluates an Eco-Cooperative Automated Control (Eco-CAC) system on a large-scale network considering a combination of internal combustion engine vehicles (ICEVs), hybrid electric vehicles (HEVs), and battery-only electric vehicles (BEVs) in a microscopic traffic simulation environment. We used a novel integrated control system that: (1) routes ICEVs, HEVs, and BEVs in a fuel/energy-efficient manner; (2) selects vehicle speeds based on anticipated traffic network evolution; (3) minimizes vehicle fuel/energy consumption near signalized intersections; and (4) intelligently modulates the longitudinal motion of vehicles along freeways within a cooperative platoon to minimize fuel/energy consumption. The study tested the system using the INTEGRATION software on the Los Angeles (LA), U.S., downtown network for three different demand levels: no congestion, mild congestion, and heavy congestion. The results demonstrated that the Eco-CAC system effectively reduces vehicle fuel and energy consumption, travel time, total delay, and stopped delay in heavily congested conditions. However, different vehicle compositions produced different results. In particular, the maximum energy consumption savings for BEVs (36.9%) for a current vehicle composition occurred at a 10% market penetration rate (MPR) of connected automated vehicles (CAVs) in mild congestion, while the maximum savings for a future vehicle composition (35.5%) occurred at a 50% CAV MPR in no congestion. The system reduced fuel consumption for ICEVs and HEVs by up to 5.4% and 6.3% at a 25% CAV MPR in heavy congestion for current and future vehicle compositions, respectively. However, the system increased total fuel consumption by up to 4.6% at a 50% CAV MPR in no congestion for a current vehicle composition. The study demonstrates that the effectiveness of the Eco-CAC system depends on traffic conditions, including congestion level, network configuration, CAV MPR, and vehicle composition.

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Section: Literature Reviewmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

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Evaluating an Eco-Cooperative Automated Control System

Ahn

Farag

et al. 2022

Transportation Research Record: Journal of the Transportation R

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Cooperative truck platooning trial on Canadian public highway under commercial operation in winter driving conditions

Jiang,

Kheyrollahi,

Koch

et al. 2024

Proceedings of the Institution of Mechanical Engineers, Part D:

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Cooperative truck platooning, a convoy of trucks driving together while communicating and coordinating with each other, represents a technology-driven approach to improve energy conversion efficiency, lower greenhouse gas emissions, and enhance road safety. Despite numerous studies have explored these potentials, there is a scarcity of empirical investigations into on-road cooperative truck platooning during commercial operations, particularly in winter driving conditions. This paper presents the findings of an experimental study on the first commercially focused truck platooning implementation on a Canadian public highway in the winter season, using two SAE level 2 class 8 trucks. The on-road trials took place on the Queen Elizabeth II Highway, between Calgary and Edmonton, with ambient temperatures ranging from −27°C to 12°C, and truck weights spanning 16–39 tons. Nine well-trained and experienced drivers conducted 41 incident-free (platooning and baseline) test trips, covering a distance of 22,855 km. The experimental results confirmed the feasibility of operating commercial truck platooning with 3–5 s time gaps on public roads during the Canadian winter season including various road surface conditions. The results also show that the platooning engagement ratio reached up to 88.9%, with an average of 61.6% across 25 platooning trips. Furthermore, the follower truck achieved a 1.6% fuel savings on flat road sections during platooning, but its freight transportation specific fuel consumption was higher than that of the lead truck on hilly terrain. Test results indicate the lighter truck exhibited higher specific nitrogen oxides (NOx) emissions. Moreover, the frequent engagement and disengagement of the cooperative truck platooning system had adverse effects on the powertrain system of the truck, leading to increased fuel consumption and engine-out NOx emissions. This study provides real-world data to identify limitations and needed areas for improvement in adapting cooperative truck platooning technology to commercial operations on public roads.

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Performance Analysis of Cooperative Truck Platooning under Commercial Operation during Canadian Winter Season

Jiang,

Kheyrollahi,

Koch

et al. 2023

SAE Intl. J CAV

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<div>The cooperative platoon of multiple trucks with definite proximity has the potential to enhance traffic safety, improve roadway capacity, and reduce fuel consumption of the platoon. To investigate the truck platooning performance in a real-world environment, two Peterbilt class-8 trucks equipped with cooperative truck platooning systems (CTPS) were deployed to conduct the first-of-its-kind on-road commercial trial in Canada. A total of 41 CTPS trips were carried out on Alberta Highway 2 between Calgary and Edmonton during the winter season in 2022, 25 of which were platooning trips with 3 to 5 sec time gaps. The platooning trips were performed at ambient temperatures from −24 to 8°C, and the total truck weights ranged from 16 to 39 tons. The experimental results show that the average time gap error was 0.8 sec for all the platooning trips, and the trips with the commanded time gap of 5 sec generally had the highest variations. The average number of disengagements increased when the time gap rose from 3 to 5 sec, and the average engagement distance of all platooning trips was 1.92 km. In the review of the platooning effect on the powertrain system, it was observed that fluctuations in the follower truck’s engine power were generally larger compared to those of the lead truck. Furthermore, when trucks performed platooning on the flat road segments, the follower truck saved fuel; however, on the road segments with grade changes, the freight transportation specific fuel consumption (kg/(ton·100 km)) of the follower truck increased. Moreover, the freight transportation specific fuel consumption of the follower truck was 25.8% more than that of the lead truck when cut-ins and cut-outs occurred. Test results show that the frequency of cut-ins increased from 1.6 to 5 times per hour when time gap increased from 3 to 5 sec. Overall, beyond successful and safe commercial truck platooning operations during the cold winter season, no substantial benefit of fuel saving was observed in the investigated platform.</div>

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Longitudinal motion control for vehicle platooning in mixed traffic based on virtual mass-spring-damper theory

Cited by 3 publications

References 0 publications

Evaluating an Eco-Cooperative Automated Control System

Evaluating an Eco-Cooperative Automated Control System

Cooperative truck platooning trial on Canadian public highway under commercial operation in winter driving conditions

Performance Analysis of Cooperative Truck Platooning under Commercial Operation during Canadian Winter Season

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