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Guaranteeing safety for heavy duty vehicle platooning: Safe set computations and experimental evaluations
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. Scania CV AB, SE-15187 Södertälje, Sweden.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.
KTH, School of Electrical Engineering (EES), Automatic Control. KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre.ORCID iD: 0000-0001-9940-5929
UC Berkeley. (Electrical Engineering and Computer Sciences)
2014 (English)In: Control Engineering Practice, ISSN 0967-0661, E-ISSN 1873-6939, Vol. 24, no 1, 33-41 p.Article in journal (Refereed) 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.

Place, publisher, year, edition, pages
Elsevier, 2014. Vol. 24, no 1, 33-41 p.
Keyword [en]
Heavy duty vehicle, Platooning, Game theory, Safety analysis, Vehicle-to-vehicle communication, Adaptive cruise control
National Category
Control Engineering
Identifiers
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: diva2:678025
Funder
Swedish Research Council
Note

QC 20131211

Available from: 2013-12-11 Created: 2013-12-11 Last updated: 2017-12-06Bibliographically approved

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Johansson, Karl H.

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