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The Impact of Heterogeneity and Order in Heavy Duty Vehicle Platooning Networks
KTH, School of Electrical Engineering (EES), Automatic Control.ORCID iD: 0000-0001-5107-2942
KTH, School of Electrical Engineering (EES), Automatic Control.
KTH, School of Electrical Engineering (EES), Automatic Control.
2011 (English)Conference paper (Refereed)
Abstract [en]

It is formally known that by establishing a heavy duty vehicle platoon, the fuel consumption is reduced for the follower vehicle due to the lower air drag. However, it is not clear how the platoon should be formed with respect to the heavy duty vehicle properties. String stability is a well discussed issue in vehicle platooning. However, each vehicle’s properties have to be taken into consideration when analyzing the platoon system. In this paper, we analyze one property of heavy duty vehicles the mass. The results show that the robustness is influenced by the order and physical characteristics of the vehicles in the platoon. When utilizing identical PID controllers for all vehicles in the platoon, it is better to arrange the heaviest vehicle first with decreasing mass order when considering the platoon behavior. However, in reality it is difficult to start rearranging a platoon in the middle of a highway and it would also require V2Vcommunication. A controller is often optimized for a particular configuration set that can cause slinky effects to the platoon. Therefore, a mass-dependent PID controller is introduced to establish a better platoon behavior for heavy duty vehicles. The results show no slinky effects regardless of the vehicle order in the platoon.

Place, publisher, year, edition, pages
IEEE , 2011. 291-297 p.
Keyword [en]
Robustness, Simulation, Stability criteria, Trajectory, Transfer functions, Vehicles
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-89692DOI: 10.1109/VNC.2011.6117113ScopusID: 2-s2.0-84857618680ISBN: 978-1-4673-0049-0OAI: diva2:503322
2011 IEEE Vehicular Networking Conference (VNC), Amsterdam, 14-16 Nov. 2011
© 2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Poster QC 20120215Available from: 2012-02-15 Created: 2012-02-15 Last updated: 2012-02-15Bibliographically approved

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