Implementation of Traffic Control With Heavy Duty Vehicle Anti-Platooning
Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
In the north of Sweden, there are some wealthy mines that have being actively explored. To transport the metals from the mines to its destination there are being used Heavy Duty Vehicles (HDV). This setup has two main restrictions: the HDVs must travel 4 minutes apart; and due to the roughness of the terrain there are some areas where only one vehicle can go through at a time.
The project was developed in the Smart Mobility Lab (SML), in KTH, Stockholm. It was created a test platform that simulates the behavior of HDVs in scaled trucks. The scaled trucks are controlled with PID controllers to follow paths in a road network that was also created during this project and also keep a formation with a fixed distance between vehicles. To track the position of the trucks it was used a motion capture system. Basically, it was created a system that allows to test several features of platooning and at the same time apply traffic control with virtual traffic lights. On top of the system it was applied an instantaneous fuel consumption model that makes possible a fuel consumption analysis. Several scenarios were designed in order to showcase some features of the system and at the same time analyze its benefits.
In the end of the thesis it was possible to see the benefits of using traffic control in the situation described. Also a big contribution of the thesis was the construction of the testbed that has been proven to be an effective showcase tool of platooning techniques and simple traffic control. The application developed was created in a generic way in order to serve as a base resource of knowledge for future works.
Place, publisher, year, edition, pages
2013. , 102 p.
EES Examensarbete / Master Thesis
Electrical Engineering, Electronic Engineering, Information Engineering
IdentifiersURN: urn:nbn:se:kth:diva-133588OAI: oai:DiVA.org:kth-133588DiVA: diva2:662328
Master of Science - Systems, Control and Robotics
Johansson, Karl Henrik