Safe and Efficient Cooperative Platooning

Thormann, Sebastian; Schirrer, Alexander; Jakubek, Stefan

doi:10.1109/tits.2020.3024950

Cited by 29 publications

(30 citation statements)

References 34 publications

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“…However, it is still interesting to analyse the optimal controller configuration for the case that communication is lost. For specialised platooning solutions based on model predictive or sliding mode control that are robust against communication loss or that do not use communication at all, the reader is referred to [24,36]. For all three information flow topologies the same optimisation including all other uncertainties as discussed in Section 2.4 is conducted in MATLAB®/Simulink.…”

Section: Optimisation Resultsmentioning

confidence: 99%

“…Typically, a simple constant time-gap policy is applied as in [14,20,22,23], but the time-gap itself is an exogenous, user-defined parameter, even though the spacing policy evidently exerts great influence on energy consumption and safety. An alternative MPC-based approach is given in [24], where the spacing between the platoon members is not explicitly defined, but emerges from the optimisation of the cost function itself. Nonetheless, for most existing controllers, it is an open question how to choose the constant time headway in a sensible way that enables high energy savings while also guaranteeing safe operation.…”

Section: Introductionmentioning

confidence: 99%

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Stochastic Optimisation for the Design of Energy-Efficient Controllers for Cooperative Truck Platoons

2022

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Cooperative adaptive cruise control systems have the potential to improve fuel efficiency and safety. However, due to the large amount of uncertainties, which are encountered in platooning applications, typical controller calibrations are often not reliable. Therefore, in order to ensure a satisfying performance in the presence of various information topologies and relevant uncertainties such as errors in data transmission or extreme manoeuvres of the lead vehicle, a risk-averse stochastic optimisation approach for controller calibration is suggested and demonstrated for a pre-existing control scheme. Realistic vehicle dynamics simulation experiments with a prescribed set of uncertainties, such as transmission delays and different vehicle parameters, are performed. The results show that the collision probability and energy consumption are reduced by the risk-averse calibration of the controller and its spacing policy compared with classical calibration which assumes perfect communication.

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Section: Optimisation Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Stochastic Optimisation for the Design of Energy-Efficient Controllers for Cooperative Truck Platoons

2022

Self Cite

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“…Currently, many researchers are attracted by the potentials of cooperative control of connected platooning vehicles. They are engaged in developing innovative design paradigms to address the platoon control-related challenge from the perspective of control theory, such as H-infinity synthesis-based robust control [3], [4], car-following model and consensus-based control [5]- [7], vehicular sensor-based and Doppler-compensationbased control [10], and model predictive control (MPC)-based methods [8], [9]. Nevertheless, among these platoon controlrelated works, few have targeted the joint optimization of communication and computation resources.…”

Section: B Prior Workmentioning

confidence: 99%

Joint Communication and Computation Resource Scheduling of a UAV-Assisted Mobile Edge Computing System for Platooning Vehicles

Liu

Zhou

Sheng

et al. 2022

IEEE Trans. Intell. Transport. Syst.

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“…Tracking performance for a range of string stable controllers can be found in the references therein. Various recent MPC-based approaches have been suggested for improved safety in [16], [17]. In [18], a string stable controller is designed that is safe under communication delays.…”

Section: A Related Work On Platooningmentioning

confidence: 99%

Safety of Automatic Emergency Braking in Platooning

Сидоренко

Thunberg

Sjöberg

et al. 2022

IEEE Trans. Veh. Technol.

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A platoon comprises a string of consecutive highly automated vehicles traveling together. Platooning allows for increased road utilization and reduced fuel consumption due to short inter-vehicular distances. Safety in terms of guaranteeing no rear-end collisions is of utmost importance for platooning systems to be deployed in practice.We compare how safely emergency braking can be handled by emerging vehicle-to-vehicle (V2V) communications on the one hand and by radar-based measurements of existing automatic emergency braking systems (AEBS) on the other. We show that even under conservative assumptions on the V2V communications, such an approach significantly outperforms AEBS with an ideal radar sensor in terms of allowed inter-vehicle distances and response times.Furthermore, we design two emergency braking strategies for platooning based on V2V communications. The first braking strategy assumes centralized coordination by the leading vehicle and exploits necessary optimal conditions of a constrained optimization problem, whereas the second -the more conservative solution -assumes only local information and is distributed in nature. Both strategies are also compared with the AEBS.

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Safe and Efficient Cooperative Platooning

Cited by 29 publications

References 34 publications

Stochastic Optimisation for the Design of Energy-Efficient Controllers for Cooperative Truck Platoons

Stochastic Optimisation for the Design of Energy-Efficient Controllers for Cooperative Truck Platoons

Joint Communication and Computation Resource Scheduling of a UAV-Assisted Mobile Edge Computing System for Platooning Vehicles

Safety of Automatic Emergency Braking in Platooning

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