Change search
Link to record
Permanent link

Direct link
BETA
Publications (10 of 15) Show all publications
Čičić, M., Liang, K.-Y. & Johansson, K. H. (2017). Platoon Merging Distance Prediction using a Neural Network Vehicle Speed Model. In: IFAC-PapersOnLineVolume 50, Issue 1, July 2017, Pages 3720-3725: . Paper presented at 20th IFAC World Congress, Toulouse, France (2017) (pp. 3720-3725).
Open this publication in new window or tab >>Platoon Merging Distance Prediction using a Neural Network Vehicle Speed Model
2017 (English)In: IFAC-PapersOnLineVolume 50, Issue 1, July 2017, Pages 3720-3725, 2017, p. 3720-3725Conference paper, Published paper (Refereed)
Abstract [en]

Heavy-duty vehicle platooning has been an important research topic in recent years. By driving closely together, the vehicles save fuel by reducing total air drag and utilize the road more efficiently. Often the heavy-duty vehicles will catch-up in order to platoon while driving on the common stretch of road, and in this case, a good prediction of when the platoon merging will take place is required in order to make predictions on overall fuel savings and to automatically control the velocity prior to the merge. The vehicle speed prior to platoon merging is mostly influenced by the road grade and by the local traffic condition. In this paper, we examine the influence of road grade and propose a method for predicting platoon merge distance using vehicle speed prediction based on road grade. The proposed method is evaluated using experimental data from platoon merging test runs done on a highway with varying level of traffic. It is shown that under reasonable conditions, the error in the merge distance prediction is smaller than 8%.

Keywords
Platooning, Intelligent Transport Systems, Neural Networks, Road Transportation, Platoon Merging Distance, Road Grade
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-245878 (URN)
Conference
20th IFAC World Congress, Toulouse, France (2017)
Funder
EU, Horizon 2020, 674875
Note

QC 20190308

Available from: 2019-03-08 Created: 2019-03-08 Last updated: 2019-04-08Bibliographically approved
Besselink, B., Turri, V., Van De Hoef, S. H., Liang, K.-Y., Alam, A., Mårtensson, J. & Johansson, K. H. (2016). Cyber-Physical Control of Road Freight Transport. Proceedings of the IEEE, 104(5), 1128-1141, Article ID 7437386.
Open this publication in new window or tab >>Cyber-Physical Control of Road Freight Transport
Show others...
2016 (English)In: Proceedings of the IEEE, ISSN 0018-9219, E-ISSN 1558-2256, Vol. 104, no 5, p. 1128-1141, article id 7437386Article in journal (Refereed) Published
Abstract [en]

Freight transportation is of outmost importance in our society and is continuously increasing. At the same time, transporting goods on roads accounts for about 26% of the total energy consumption and 18% of all greenhouse gas emissions in the European Union. Despite the influence the transportation system has on our energy consumption and the environment, road transportation is mainly done by individual long-haulage trucks with no real-time coordination or global optimization. In this paper, we review how modern information and communication technology supports a cyber-physical transportation system architecture with an integrated logistic system coordinating fleets of trucks traveling together in vehicle platoons. From the reduced air drag, platooning trucks traveling close together can save about 10% of their fuel consumption. Utilizing road grade information and vehicle-to-vehicle communication, a safe and fuel-optimized cooperative look-ahead control strategy is implemented on top of the existing cruise controller. By optimizing the interaction between vehicles and platoons of vehicles, it is shown that significant improvements can be achieved. An integrated transport planning and vehicle routing in the fleet management system allows both small and large fleet owners to benefit from the collaboration. A realistic case study with 200 heavy-duty vehicles performing transportation tasks in Sweden is described. Simulations show overall fuel savings at more than 5% thanks to coordinated platoon planning. It is also illustrated how well the proposed cooperative look-ahead controller for heavy-duty vehicle platoons manages to optimize the velocity profiles of the vehicles over a hilly segment of the considered road network.

Place, publisher, year, edition, pages
IEEE, 2016
Keywords
automated highways, Automotive engineering, intelligent transportation systems, intelligent vehicles, networked control systems, vehicular communication, Automobiles, Controllers, Cooperative communication, Cruise control, Energy utilization, Fleet operations, Fuel economy, Fuels, Gas emissions, Global optimization, Greenhouse gases, Motor transportation, Numerical control systems, Roads and streets, Traffic control, Transportation, Trucks, Vehicle to vehicle communications, Vehicles, Fleet management system, Information and Communication Technologies, Integrated transport, Physical transportation, Real time coordination, Road freight transport, Total energy consumption, Transportation system, Freight transportation
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:kth:diva-186985 (URN)10.1109/JPROC.2015.2511446 (DOI)000374864600019 ()2-s2.0-84961572731 (Scopus ID)
Funder
Swedish Research CouncilEU, FP7, Seventh Framework ProgrammeVINNOVAKnut and Alice Wallenberg Foundation
Note

QC 20160516

Available from: 2016-05-16 Created: 2016-05-16 Last updated: 2017-11-30Bibliographically approved
Liang, K.-Y., Mårtensson, J. & Johansson, K. H. (2016). Experiments on Platoon Formation of Heavy Trucks in Traffic. In: 2016 IEEE 19TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC): . Paper presented at 19th IEEE International Conference on Intelligent Transportation Systems (ITSC), NOV 01-04, 2016, Rio de Janeiro, BRAZIL (pp. 1813-1819). IEEE
Open this publication in new window or tab >>Experiments on Platoon Formation of Heavy Trucks in Traffic
2016 (English)In: 2016 IEEE 19TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC), IEEE, 2016, p. 1813-1819Conference paper, Published paper (Refereed)
Abstract [en]

Truck platooning is a means to significantly reduce the fuel consumption for the follower vehicle as the air drag is reduced when the inter-vehicle gap between the trucks is reduced. As each truck is assigned with different start and end locations, platoons will be frequently formed and split, while driving to their respective destinations. Additionally, the trucks are not the only ones driving on the road as there are other road users, which may influence how well a platoon can be formed. In this paper, an experimental study is conducted to investigate how traffic may affect a merging maneuver of two trucks trying to form a platoon on a public highway during rush hours. We obtained traffic data from Stockholm's motorway control system to determine the traffic condition for each testrun. Furthermore, we tried different truck speeds to study if it had any impacts on merge delay. Even in light traffic condition, a platoon merge could be delayed with over 10 % compared to the ideal case with the absence of traffic. This is partially caused by persistent drivers in which we encountered them in a fourth of the runs.

Place, publisher, year, edition, pages
IEEE, 2016
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:kth:diva-202484 (URN)10.1109/ITSC.2016.7795804 (DOI)000392215500283 ()2-s2.0-85010064964 (Scopus ID)978-1-5090-1889-5 (ISBN)
Conference
19th IEEE International Conference on Intelligent Transportation Systems (ITSC), NOV 01-04, 2016, Rio de Janeiro, BRAZIL
Funder
VINNOVA, 2014-06200Swedish Research CouncilKnut and Alice Wallenberg FoundationIntegrated Transport Research Lab (ITRL)
Note

QC 20170302

Available from: 2017-03-02 Created: 2017-03-02 Last updated: 2017-03-07Bibliographically approved
Liang, K.-Y. (2016). Fuel-Efficient Heavy-Duty Vehicle Platoon Formation. (Doctoral dissertation). Stockholm: KTH Royal Institute of Technology
Open this publication in new window or tab >>Fuel-Efficient Heavy-Duty Vehicle Platoon Formation
2016 (English)Doctoral thesis, monograph (Other academic)
Abstract [en]

There is a need for intelligent freight transport solutions as the demand for road freight transport is continuously increasing while carbon footprint needs to be significantly reduced. Heavy-duty vehicle (HDV) platooning is one potential solution to partially mitigate the environmental impacts as well as to reduce fuel consumption, improve traffic safety, and increase traffic throughput on congested highways. However, as each goods transport has different origin, destination, and time restriction, it is not evident how the HDVs, carrying the goods, can fully utilize the platooning benefits during individual transport missions. Thus, there is a need to systematically coordinate scattered vehicles on the road to form platoons in order to maximize the benefits of platooning. 

 

This thesis addresses the problem of merging scattered HDVs to form platoons in traffic. The first contribution of the thesis is the investigation of how and when a pair of HDVs should form platoons given their positions, speeds, and destinations. We formulate the problem as an optimization problem and we derive a break-even ratio that describes how far a vehicle should check for possible vehicles to platoon with. The second contribution is to consider traffic during the merging maneuver when forming a platoon. Traffic may disturb and delay when the two HDVs will form a platoon and such delay leads to less fuel saved than initially planned. Based on shockwave and moving bottleneck theories, we derive a merge distance predictor that calculates where the HDVs will merge depending on the traffic condition. We first validate this in a microscopic traffic simulation tool. Then, we also conduct an experimental study during one month on a public highway between Stockholm and Södertälje to evaluate the merging maneuver with different traffic densities. Lastly, we use vehicle probe data obtained from a fleet management system to investigate the potential fuel savings from coordination in a larger road network. The number of vehicles platooning can be increased significantly through coordination compared to today. 

 

The main result of this thesis indicates that merging HDVs to form platoons leads to great fuel savings and that there are significant potentials to do so in reality. Traffic needs to be considered in order to guarantee that the HDVs save fuel and deliver the goods in time. Furthermore, the earlier the transport assignment is planned ahead of time, the more opportunities there are to collaborate with other fleet owners to reduce the fuel consumption. 

Abstract [sv]

Det finns behov av intelligenta godstransportlösningar då efterfrågan av godstransporter ständig ökar samtidigt som koldioxidutsläppen måste minskas. Fordonståg (även kallat kolonnkörning eller på engelska platooning) är en möjlig lösning för att delvis minska på miljöpåverkan, samtidigt som det minskar på bränsleförbrukningen, ökar trafiksäkerheten och förbättrar trafikflödet. Då många godstransporter har olika start- och slutdestinationer och tidsfrister, är det inte självklart hur man ska bilda fordonståg och utnyttja konceptet fullt ut. Det behövs en systematisk metod att koordinera utspridda fordon för att forma fordonståg för att kunna utnyttja det till fullo.

I denna avhandling studeras problemet att koordinera utspridda lastbilar för att bilda fordonståg i trafiken. Fokuset på avhandlingen är att undersöka bränsleeffektiva koordineringsstrategier där alla lastbilar medverkar och hjälper till att forma fordonståg när de redan kör på vägen. En lastbil som kör snabbare för att köra ikapp förbrukar mer bränsle, men den förlusten kan återfås om man kör i fordonståg tillräckligt länge. En lastbil har också möjligheten att sakta ner för att låta de bakre lastbilarna köra ikapp, men då förlorar den transporttid vilket måste kompenseras genom att köra gemensamt snabbare när fordonståget bildas eller efter att fordonståget splittras då lastbilen kör ensam. Dessutom finns det andra trafikanter som kan påverka koordineringen i form av förseningar.

Det första bidraget av avhandlingen är en undersökning om hur och när två lastbilar ska forma fordonståg med avseende på deras positioner, hastigheter och destinationer. Problemet är formulerat som ett optimeringsproblem och vi introducerar en brytpunkt som beskriver inom vilket avstånd ett fordon ska se för att hitta möjliga kandidater att köra i fordonståg med. Det andra bidraget är att undersöka hur trafiken påverkar koordineringen av lastbilarna. Trafiken kan störa och även försena de två lastbilar som försöker bilda ett fordonståg, vilket innebär en minde bränslebesparing än planerat. Vi tar fram en modell för att prediktera när fordonståg kommer att bildas där metoden bygger på fundamentaldiagram och chockvågsteorier. Vi validerar modellen med hjälp av en mikroskopisk trafiksimuleringsmodell. Vi utför även experiment under en månadsperiod på motorvägen mellan Stockholm och Södertälje för att utvärdera sammanslagningen under olika trafikförhållanden. Till sist använder vi positionsdata från ett fleet managementsystem för att undersöka den potentiella bränslebesparingen genom koordinering i ett störrre vägnätverk. Antalet lastbilar som kör i fordonståg kan öka drastiskt genom koordinering jämfört med nuläget.

Slutsatsen av avhandlingen är att koordinering av lastbilar för att bilda fordonståg leder till stora bränslebesparingar och att det finns möjligheter att genomföra det i praktiken. Det viktiga är att betrakta trafiken för att garantera att lastbilarna sparar bränsle samt att godsen levereras i tid. Dessutom, ju tidigare man planerar sina transporter, desto mera möjligheter finns det att samarbeta med andra åkerier för att minska på bränsleförbrukningen. 

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2016. p. 136
Series
TRITA-EE, ISSN 1653-5146 ; 2016:068
National Category
Control Engineering
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kth:diva-187350 (URN)978-91-7729-004-9 (ISBN)
Public defence
2016-06-10, Q2, Osquldas väg 10, Stockholm, 14:00 (English)
Opponent
Supervisors
Note

QC 20160520

Available from: 2016-05-20 Created: 2016-05-20 Last updated: 2016-05-23Bibliographically approved
Liang, K.-Y., Mårtensson, J. & Johansson, K. H. (2016). Heavy-Duty Vehicle Platoon Formation for Fuel Efficiency. IEEE transactions on intelligent transportation systems (Print), 17(4), 1051-1061
Open this publication in new window or tab >>Heavy-Duty Vehicle Platoon Formation for Fuel Efficiency
2016 (English)In: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 17, no 4, p. 1051-1061Article in journal (Refereed) Published
Abstract [en]

Heavy-duty vehicles driving close behind each other, also known as platooning, experience a reduced aerodynamic drag, which reduces the overall fuel consumption up to 20% for the trailing vehicle. However, due to each vehicle being assigned with different transport missions (with different origins, destinations, and delivery times), platoons should be formed, split, and merged along the highways, and vehicles have to drive solo sometimes. In this paper, we study how two or more scattered vehicles can cooperate to form platoons in a fuel-efficient manner. We show that when forming platoons on the fly on the same route and not considering rerouting, the road topography has a negligible effect on the coordination decision. With this, we then formulate an optimization problem when coordinating two vehicles to form a platoon. We propose a coordination algorithm to form platoons of several vehicles that coordinates neighboring vehicles pairwise. Through a simulation study with detailed vehicle models and real road topography, it is shown that our approach yields significant fuel savings.

Place, publisher, year, edition, pages
IEEE, 2016
Keywords
Decision making, intelligent transportation systems, road transportation, velocity control
National Category
Vehicle Engineering
Identifiers
urn:nbn:se:kth:diva-185616 (URN)10.1109/TITS.2015.2492243 (DOI)000373133600015 ()2-s2.0-84946780554 (Scopus ID)
Funder
Swedish Research CouncilKnut and Alice Wallenberg Foundation
Note

QC 20160428

Available from: 2016-04-28 Created: 2016-04-25 Last updated: 2017-11-30Bibliographically approved
Larson, J., Liang, K.-Y. & Johanson, K. H. (2015). A Distributed Framework for Coordinated Heavy-Duty Vehicle Platooning. IEEE transactions on intelligent transportation systems (Print), 16(1), 419-429
Open this publication in new window or tab >>A Distributed Framework for Coordinated Heavy-Duty Vehicle Platooning
2015 (English)In: IEEE transactions on intelligent transportation systems (Print), ISSN 1524-9050, E-ISSN 1558-0016, Vol. 16, no 1, p. 419-429Article in journal (Refereed) Published
Abstract [en]

Heavy-duty vehicles (HDVs) traveling in single file with small intervehicle distances experience reduced aerodynamic drag and, therefore, have improved fuel economy. In this paper, we attempt to maximize the amount of fuel saved by coordinating platoon formation using a distributed network of controllers. These virtual controllers, placed at major intersections in a road network, help coordinate the velocity of approaching vehicles so they arrive at the junction simultaneously and can therefore platoon. This control is initiated only if the cost of forming the platoon is smaller than the savings incurred from platooning. In a largescale simulation of the German Autobahn network, we observe that savings surpassing 5% when only a few thousand vehicles participate in the system. These results are corroborated by an analysis of real-world HDV data that show significant platooning opportunities currently exist, suggesting that a slightly invasive network of distributed controllers, such as the one proposed in this paper, can yield considerable savings.

Keywords
Automated highways, intelligent systems, road transportation
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:kth:diva-161613 (URN)10.1109/TITS.2014.2320133 (DOI)000349391200037 ()2-s2.0-84922430376 (Scopus ID)
Note

QC 20150325

Available from: 2015-03-25 Created: 2015-03-13 Last updated: 2017-12-04Bibliographically approved
Farokhi, F., Liang, K.-Y. & Johansson, K. H. (2015). Cooperation Patterns between Fleet Owners for Transport Assignments. In: 2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015), IEEE conference proceedings: . Paper presented at IEEE Conference on Control Applications (CCA) Part of IEEE Multi-Conference on Systems and Control September 21-23, 2015. Sydney, Australia (pp. 1124-1129). IEEE
Open this publication in new window or tab >>Cooperation Patterns between Fleet Owners for Transport Assignments
2015 (English)In: 2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015), IEEE conference proceedings, IEEE , 2015, p. 1124-1129Conference paper, Published paper (Refereed)
Abstract [en]

We study cooperation patterns between the heavy- duty vehicle fleet owners to reduce their costs, improve their fuel efficiency, and decrease their emissions. We consider a distributed cooperation pattern in which the fleet owners can communicate directly with each other to form alliances. A centralized cooperation pattern is studied in which the fleet owners pay to subscribe to a third-party service provider that pairs their vehicles for cooperation. The effects of various pricing strategies on the behaviour of fleet owners and their inclusiveness are analyzed. It is shown that the fleet size has an essential role. 

Place, publisher, year, edition, pages
IEEE, 2015
Series
IEEE International Conference on Control Applications ; 1085-1992
National Category
Control Engineering
Identifiers
urn:nbn:se:kth:diva-182372 (URN)000369332000157 ()2-s2.0-84964331224 (Scopus ID)978-1-4799-7787-1 (ISBN)
Conference
IEEE Conference on Control Applications (CCA) Part of IEEE Multi-Conference on Systems and Control September 21-23, 2015. Sydney, Australia
Note

QC 20160407

Available from: 2016-02-18 Created: 2016-02-18 Last updated: 2016-11-23Bibliographically approved
Liang, K.-Y., Deng, Q., Mårtensson, J., Ma, X. & Johansson, K. H. (2015). The Influence of Traffic on Heavy-Duty Vehicle Platoon Formation. In: : . Paper presented at IEEE Intelligent Vehicles Symposium (IV), June 28 - July 1, 2015. COEX, Seoul, Korea. IEEE conference proceedings
Open this publication in new window or tab >>The Influence of Traffic on Heavy-Duty Vehicle Platoon Formation
Show others...
2015 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Heavy-duty vehicle (HDV) platooning is a mean to significantly reduce the fuel consumption for the trailing vehicle. By driving close to the vehicle in front, the air drag is reduced tremendously. Due to each HDV being assigned with different transport missions, platoons will need to be frequently formed, merged, and split. Driving on the road requires interaction with surrounding traffic and road users, which will influence how well a platoon can be formed. In this paper, we study how traffic may affect a merging maneuver of two HDVs trying to form a platoon. We simulate this for different traffic densities and for different HDV speeds. Even on moderate traffic density, a platoon merge could be delayed with 20% compared to the ideal case with no traffic. 

Place, publisher, year, edition, pages
IEEE conference proceedings, 2015
National Category
Transport Systems and Logistics
Identifiers
urn:nbn:se:kth:diva-182364 (URN)10.1109/IVS.2015.7225678 (DOI)000380565800026 ()2-s2.0-84951003244 (Scopus ID)978-146737266-4 (ISBN)
External cooperation:
Conference
IEEE Intelligent Vehicles Symposium (IV), June 28 - July 1, 2015. COEX, Seoul, Korea
Note

QC 20160219

Available from: 2016-02-18 Created: 2016-02-18 Last updated: 2016-09-05Bibliographically approved
Liang, K.-Y. (2014). Coordination and Routing for Fuel-Efficient Heavy-Duty Vehicle Platoon Formation. (Licentiate dissertation). Stockholm: KTH Royal Institute of Technology
Open this publication in new window or tab >>Coordination and Routing for Fuel-Efficient Heavy-Duty Vehicle Platoon Formation
2014 (English)Licentiate thesis, monograph (Other academic)
Abstract [en]

Heavy-duty vehicle (HDV) manufacturers and fleet owners are facing great challenges for a maintained sustainable transport system as the demand for road freight transport is continuously increasing. HDV platooning is one potential solution topartially mitigate the environmental impacts as well as to reduce the fuel consumption, improve safety, and increase the throughput on congested highways. Although the concept of vehicle platooning has existed for decades, it has only been recently possible to implement in practice. Advancement in information and communications technology as well as in on-board technology allow the vehicles to connect with each other and the infrastructure. As goods have different origins, destinations, and time restrictions, it is not evident how the HDVs can fully utilize the platooning benefits during transport missions. There is a need to systematically coordinate scattered vehicles on the road network to form platoons in order to maximize the benefits of platooning. This thesis presents a framework for the coordination of HDV platoon formations. The focus lies on analyzing and validating the possibility to form platoons through fuel-efficient coordination decisions. A functional architecture for goods transport is presented, which divides the overall complex transport system into manageable layers. A vehicle model is developed to compute the impact a coordination decision has on the fuel cost. Platoon coordination consists of rerouting vehicles, adjusting departure times, and adjusting speed profiles. The focus in this thesis is on adjusting vehicles’ speeds through catch-up coordination. The first main contribution of the thesis is the investigation of how and when a pair of vehicles should form platoons given their position, speed, and destination. We derive a break-even ratio where the fuel cost of catching up and platooning is equal to the fuel cost of maintaining the original profile. By comparing the distance to destination and the distance to the candidate vehicle ahead with the break-even ratio, we can conclude whether a catch-up coordination would be beneficial or not. We also show that the road topography has little or no impact on the fuel savings of catch-up coordination. The second contribution is the study of extending the catch-up coordination into a road network with scattered vehicles with the possibility to form platoons and plan routes on junctions. Incoming vehicles on a road junction are aware of other incoming vehicles and of their position, speed, and destination. The vehicles can decide if a platoon should be formed and which path to take. Simulations on the German road network show fuel savings exceeding 5% with a few thousand vehicles. For our third contribution, we use real vehicle probe data obtained from a fleet management system to investigate how catch-up coordination and departure time adjustments can increase the fuel savings from today’s spontaneous platooning. The results show that coordination can increase the fuel savings and the platooning rate significantly. We managed to increase it with a factor of nine despite having only 200–350 active HDVs on the network. The main results of the thesis indicate that it is possible to increase fuel savings noticeably with simple regional coordination schemes for vehicle platoons.

Place, publisher, year, edition, pages
Stockholm: KTH Royal Institute of Technology, 2014. p. ix, 97
Series
TRITA-EE, ISSN 1653-5146 ; 2014:013
National Category
Control Engineering
Research subject
Electrical Engineering
Identifiers
urn:nbn:se:kth:diva-143515 (URN)978-91-7595-067-9 (ISBN)
Presentation
2014-04-11, L1, Drottning Kristinas väg 30, KTH, Stockholm, 10:15 (English)
Opponent
Supervisors
Note

QC 2010324

Available from: 2014-03-24 Created: 2014-03-21 Last updated: 2014-03-24Bibliographically approved
Liang, K.-Y., Mårtensson, J. & Johansson, K. H. (2014). Fuel-Saving Potentials of Platooning Evaluated through Sparse Heavy-Duty Vehicle Position Data. In: : . Paper presented at IEEE Intelligent Vehicles Symposium (IV), JUN 08-11, 2014, Dearborn, MI, USA (pp. 1061-1068). IEEE conference proceedings
Open this publication in new window or tab >>Fuel-Saving Potentials of Platooning Evaluated through Sparse Heavy-Duty Vehicle Position Data
2014 (English)Conference paper, Published paper (Refereed)
Abstract [en]

Vehicle platooning is important for heavy-duty vehicle manufacturers, due to the reduced aerodynamic drag for the follower vehicles, which gives an overall lower fuel consumption. Heavy-duty vehicle drivers are aware this fact and sometimes drive close to other heavy-duty vehicles. However, it is not currently well known how many vehicles are actually driving in such spontaneous platoons today. This paper studies the platooning rate of 1,800 heavy-duty vehicles by analyzing sparse vehicle position data from a region in Europe during one day. Map-matching and path-inference algorithms are used to determine which paths the vehicles took. The spontaneous platooning rate is found to be 1.2 %, which corresponds to a total fuel saving of 0.07% compared to if none of the vehicles were platooning. Furthermore, we introduce several virtual coordination schemes. We show that coordinations can increase the platooning rate and fuel saving with a factor of ten with minor adjustments from the current travel schedule. The platooning rate and fuel savings can be significantly greater if higher flexibility is allowed.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2014
Keywords
Fuel economy, Image matching, Inference engines, Intelligent vehicle highway systems, Vehicles
National Category
Computer Sciences
Identifiers
urn:nbn:se:kth:diva-159049 (URN)10.1109/IVS.2014.6856540 (DOI)000346153100169 ()2-s2.0-84905394246 (Scopus ID)978-147993638-0 (ISBN)
Conference
IEEE Intelligent Vehicles Symposium (IV), JUN 08-11, 2014, Dearborn, MI, USA
Note

QC 20150123

Available from: 2015-01-23 Created: 2015-01-20 Last updated: 2018-01-11Bibliographically approved
Organisations
Identifiers
ORCID iD: ORCID iD iconorcid.org/0000-0001-5107-2942

Search in DiVA

Show all publications