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Cooperative look-ahead control for fuel-efficient and safe heavy-duty vehicle platooning
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0002-7177-0702
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-5194-3306
KTH, School of Electrical Engineering (EES), Centres, ACCESS Linnaeus Centre. KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-9940-5929
2016 (English)In: IEEE Transactions on Control Systems Technology, ISSN 1063-6536, E-ISSN 1558-0865, Vol. PP, no 99, 1-17 p.Article in journal (Refereed) Accepted
Abstract [en]

The operation of groups of heavy-duty vehicles (HDVs) at a small inter-vehicular distance (known as platoon) allows to lower the overall aerodynamic drag and, therefore, to reduce fuel consumption and greenhouse gas emissions. However, due to the large mass and limited engine power of HDVs, slopes have a significant impact on the feasible and optimal speed profiles that each vehicle can and should follow. Therefore maintaining a short inter-vehicular distance as required by platooning without coordination between vehicles can often result in inefficient or even unfeasible trajectories. In this paper we propose a two-layer control architecture for HDV platooning aimed to safely and fuel-efficiently coordinate the vehicles in the platoon. Here, the layers are responsible for the inclusion of preview information on road topography and the real-time control of the vehicles, respectively. Within this architecture, dynamic programming is used to compute the fuel-optimal speed profile for the entire platoon and a distributed model predictive control framework is developed for the real-time control of the vehicles. The effectiveness of the proposed controller is analyzed by means of simulations of several realistic scenarios that suggest a possible fuel saving of up to 12% for the follower vehicles compared to the use of standard platoon controllers.

Place, publisher, year, edition, pages
2016. Vol. PP, no 99, 1-17 p.
Keyword [en]
Platooning, look-ahead control. optimal control, distributed model predictive control, dynamic programming, eco-driving, autonomous vehicles
National Category
Control Engineering
Research subject
Electrical Engineering; Vehicle and Maritime Engineering
URN: urn:nbn:se:kth:diva-173381DOI: 10.1109/TCST.2016.2542044OAI: diva2:852888
EU, FP7, Seventh Framework ProgrammeSwedish Research Council
Available from: 2015-09-10 Created: 2015-09-10 Last updated: 2016-04-11Bibliographically approved

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