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Guaranteeing safety for heavy duty vehicle platooning: Safe set computations and experimental evaluations
KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre. Scania CV AB, SE-15187 Södertälje, Sweden.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.
KTH, Skolan för elektro- och systemteknik (EES), Reglerteknik. KTH, Skolan för elektro- och systemteknik (EES), Centra, ACCESS Linnaeus Centre.ORCID-id: 0000-0001-9940-5929
UC Berkeley. (Electrical Engineering and Computer Sciences)
2014 (engelsk)Inngår i: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 24, nr 1, s. 33-41Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

In this paper, we consider the problem of finding a safety criteria between neighboring heavy duty vehicles traveling in a platoon. We present a possible framework for analyzing safety aspects of heavy duty vehicle platooning. A nonlinear underlying dynamical model is utilized, where the states of two neighboring vehicles are conveyed through radar information and wireless communication. Numerical safe sets are derived through the framework, under a worst-case scenario, and the minimum safe spacing is studied for heterogenous platoons. Real life experimental results are presented in an attempt to validate the theoretical results in practice. The findings show that a minimum relative distance of 1.2 m at maximum legal velocity on Swedish highways can be maintained for two identical vehicles without endangering a collision. The main conclusion is that the relative distance utilized in commercial applications today can be reduced significantly with a suitable automatic control system.

sted, utgiver, år, opplag, sider
Elsevier, 2014. Vol. 24, nr 1, s. 33-41
Emneord [en]
Heavy duty vehicle, Platooning, Game theory, Safety analysis, Vehicle-to-vehicle communication, Adaptive cruise control
HSV kategori
Identifikatorer
URN: urn:nbn:se:kth:diva-137114DOI: 10.1016/j.conengprac.2013.11.003ISI: 000331497700004Scopus ID: 2-s2.0-84892503478OAI: oai:DiVA.org:kth-137114DiVA, id: diva2:678025
Forskningsfinansiär
Swedish Research Council
Merknad

QC 20131211

Tilgjengelig fra: 2013-12-11 Laget: 2013-12-11 Sist oppdatert: 2017-12-06bibliografisk kontrollert

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Johansson, Karl H.

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