Strategic Hub-Based Platoon Coordination Under Uncertain Travel Times

Johansson, Alexander; Nekouei, Ehsan; Johansson, Karl Henrik; Mårtensson, Jonas

doi:10.1109/tits.2021.3077467

Cited by 26 publications

(9 citation statements)

References 25 publications

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“…Larson et al [26] developed a distributed control system in which trucks can adjust speed to form platoons to save fuels. Johansson et al [27] developed two game-theoretic models to study the platoon coordination problem where vehicles can wait at network nodes to form platoons. In Table 1, we compare the newly developed functional components and the performance analysis of the AMoD system with the new components in our modeling framework with the referred studies in the literature.…”

Section: E Strategic Platoon Formation On Highwaysmentioning

confidence: 99%

Assessing the Potential of the Strategic Formation of Urban Platoons for Shared Automated Vehicle Fleets

Wang

Correia

Lin

2022

Journal of Advanced Transportation

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This paper addresses the problem of studying the impacts of the strategic formation of platoons in automated mobility-on-demand (AMoD) systems in future cities. Forming platoons has the potential to improve traffic efficiency, resulting in reduced travel times and energy consumption. However, in the platoon formation phase, coordinating the vehicles at formation locations for forming a platoon may delay travelers. In order to assess these effects, an agent-based model has been developed to simulate an urban AMoD system in which vehicles travel between service points transporting passengers either forming or not forming platoons. A simulation study was performed on the road network of the city of The Hague, Netherlands, to assess the impact on traveling and energy usage by the strategic formation of platoons. Results show that forming platoons could save up to 9.6% of the system-wide energy consumption for the most efficient car model. However, this effect can vary significantly with the vehicle types and strategies used to form platoons. Findings suggest that, on average, forming platoons reduces the travel times for travelers even if they experience delays while waiting for a platoon to be formed. However, delays lead to longer travel times for the travelers with the platoon leaders, similar to what people experience while traveling in highly congested networks when platoon formation does not happen. Moreover, the platoon delay increases as the volume of AMoD requests decreases; in the case of an AMoD system serving only 20% of the commuter trips (by private cars in the case-study city), the average platoon delays experienced by these trips increase by 25%. We conclude that it is beneficial to form platoons to achieve energy and travel efficiency goals when the volume of AMoD requests is high.

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Section: E Strategic Platoon Formation On Highwaysmentioning

confidence: 99%

Assessing the Potential of the Strategic Formation of Urban Platoons for Shared Automated Vehicle Fleets

Wang

Correia

Lin

2022

Journal of Advanced Transportation

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“…Platoon coordination when each truck optimizes its own profit was considered in [21] and in our previous research efforts [22]- [25]. The motivation lies in the fact that trucks can be owned by small transport companies or even single persons, making centralized coordination hard to implement.…”

Section: A Related Work On Platoon Coordinationmentioning

confidence: 99%

“…The motivation lies in the fact that trucks can be owned by small transport companies or even single persons, making centralized coordination hard to implement. The works in [21], [22], [24], [25] use non-cooperative games to model and study strategic interactions among trucks when they form platoons to maximize their individual profits. The work in [23] uses a cooperative game to design a profit redistribution mechanism to incentivize trucks on the same road segment to form and maintain the optimal platoon formation.…”

Section: A Related Work On Platoon Coordinationmentioning

confidence: 99%

Real-Time Cross-Fleet Pareto-Improving Truck Platoon Coordination

Johansson,

Mårtensson,

Sun

et al. 2022

Preprint

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This paper studies a multi-fleet platoon coordination system in transport networks that deploy hubs to form trucks into platoons. The trucks belong to different fleets that are interested in increasing their profits by platooning across fleets. The profit of each fleet incorporates platooning rewards and costs for waiting at hubs. Each truck has a fixed route and a waiting time budget to spend at the hubs along its route. To ensure that all fleets are willing to participate in the system, we develop a cross-fleet Pareto-improving coordination strategy that guarantees higher fleet profits than a coordination strategy without cross-fleet platoons. By leveraging multiple hubs for platoon formation, the coordination strategy can be implemented in a real-time and distributed fashion while largely reducing the amount of travel information to be shared for system-wide coordination. We evaluate the proposed strategy in a simulation study over the Swedish transportation network. The cross-fleet platooning strategy significantly improves fleets' profits compared with single-fleet platooning, especially the profits from smaller fleets. The cross-fleet platooning strategy also shows strong competitiveness in terms of the system-wide profit compared to the case when a system planner optimizes all fleets' total profit.

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“…This approach indeed decreases the computation load in comparison with centralized schemes, while as the platooning opportunities of individual trucks are only considered at one intersection, the platooning benefit at the following intersections may get lost. Another closely related work is [23], in which a similar waiting time scheduling problem is studied for trucks with individual utility functions. In difference to our work, the authors in [23] formulate the problem in a non-cooperative game theoretic framework and present Nash equilibrium as solution concept, which requires a large number of iterations to find an equilibrium solution for many trucks.…”

Section: A Related Workmentioning

confidence: 99%

“…Another closely related work is [23], in which a similar waiting time scheduling problem is studied for trucks with individual utility functions. In difference to our work, the authors in [23] formulate the problem in a non-cooperative game theoretic framework and present Nash equilibrium as solution concept, which requires a large number of iterations to find an equilibrium solution for many trucks. In this paper, we propose a solution that allows each truck to compute its waiting times independently from others, making it more efficient to compute than an equilibrium solution and more suitable for handling massive transport networks.…”

Section: A Related Workmentioning

confidence: 99%

Event-Triggered Distributed Model Predictive Control for Platoon Coordination at Hubs in a Transport System

Bai,

Johansson,

Johansson

et al. 2022

Preprint

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This paper considers the problem of hub-based platoon coordination for a large-scale transport system, where trucks have individual utility functions to optimize. An eventtriggered distributed model predictive control method is proposed to solve the optimal scheduling of waiting times at hubs for individual trucks. In this distributed framework, trucks are allowed to decide their waiting times independently and only limited information is shared between trucks. Both the predicted reward gained from platooning and the predicted cost for waiting at hubs are included in each truck's utility function. The performance of the coordination method is demonstrated in a simulation with one hundred trucks over the Swedish road network.

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Strategic Hub-Based Platoon Coordination Under Uncertain Travel Times

Cited by 26 publications

References 25 publications

Assessing the Potential of the Strategic Formation of Urban Platoons for Shared Automated Vehicle Fleets

Assessing the Potential of the Strategic Formation of Urban Platoons for Shared Automated Vehicle Fleets

Real-Time Cross-Fleet Pareto-Improving Truck Platoon Coordination

Event-Triggered Distributed Model Predictive Control for Platoon Coordination at Hubs in a Transport System

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