Experimental evaluation of decentralized cooperative cruise control for heavy-duty vehicle platooning |
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| Affiliation: | 1. Scania CV AB,SE-15187 Södertälje, Sweden;2. ACCESS Linnaeus Centre, Royal Institute of Technology, 100 44 Stockholm, Sweden;1. College of Information Science and Engineering, Northeastern University, Shenyang, Liaoning 110819, PR China;2. State Key Laboratory of Synthetical Automation for Process Industries, Northeastern University, Shenyang, Liaoning 110819, PR China;3. Biomedical Engineering Department, Illinois Institute of Technology, Chicago, IL 60616, USA;4. Department of Chemical and Biological Engineering, Illinois Institute of Technology, Chicago, IL 60616, USA;1. Institute of Sound and Vibration Research, University of Southampton, Southampton SO17 1BJ, UK;2. Department of Automatic Control and Systems Engineering, University of Sheffield, Sheffield S1 3JD, UK;1. University “Mediterranea” of Reggio Calabria – DIIES Department, Italy;2. Istituto Superiore Mario Boella, Italy;1. Department of Information Engineering and Computer Science, University of Trento, Italy;2. Heinz Nixdorf Institute and Department of Computer Science, Paderborn University, Germany |
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| Abstract: | In this paper, we consider the problem of finding decentralized controllers for heavy-duty vehicle (HDV) platooning by establishing empiric results for a qualitative verification of a control design methodology. We present a linear quadratic control framework for the design of a high-level cooperative platooning controller suitable for modern HDVs. A nonlinear low-level dynamical model is utilized, where realistic response delays in certain modes of operation are considered. The controller performance is evaluated through numerical and experimental studies. It is concluded that the proposed controller behaves well in the sense that experiments show that it allows for short time headways to achieve fuel efficiency, without compromising safety. Simulation results indicate that the model mimics real life behavior. Experiment results show that the dynamic behavior of the platooning vehicles depends strongly on the gear switching logic, which is confirmed by the simulation model. Both simulation and experiment results show that the third vehicle never displays a bigger undershoot than its preceding vehicle. The spacing errors stay bounded within 6.8 m in the simulation results and 7.2 m in the experiment results for varying transient responses. Furthermore, a minimum spacing of −0.6 m and −1.9 m during braking is observed in simulations and experiments, respectively. The results indicate that HDV platooning can be conducted at close spacings with standardized sensors and control units that are already present on commercial HDVs today. |
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| Keywords: | Heavy-duty vehicle Platooning Linear quadratic control Vehicle-to-vehicle communication Adaptive intelligent cruise control |
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