A multi-layer control approach to truck platooning: platoon cohesion subject to dynamical limitations

Jeroen C. Zegers, Elham Semsar-Kazerooni, Mauro Fusco, Jeroen Ploeg

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

4 Citaties (Scopus)

Uittreksel

Abstract:
This paper presents a multi-layer approach to Cooperative Adaptive Cruise Control (CACC) to improve the platoon cohesion subject to limited vehicle actuation capabilities. The objective of the design is to guarantee that the vehicles in the platoon keep their desired relative position, while maintaining desirable platoon properties in terms of disturbance attenuation. To this end, a multi-layered control architecture is proposed. On the lower layer, a unidirectional CACC is employed, involving information exchange in upstream direction. On the upper layer, a coordination variable is exchanged from each vehicle towards its direct preceding vehicle, thus yielding downstream information exchange. As a result, the leading vehicle is aware of the capabilities of the following vehicles, and therefore, is able to adapt its motion, if needed. Consequently, cohesion of a heterogeneous platoon is guaranteed, even in the case of physical limitations, like engine power limits. The developed technique is verified through simulations and experiments.
Originele taal-2Engels
Titel5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems : Napoli, Hotel Royal Continental, 26-28 June 2017.Proceedings
Plaats van productiePiscataway
UitgeverijInstitute of Electrical and Electronics Engineers
Pagina's128-133
Aantal pagina's6
ISBN van elektronische versie9781509064847
DOI's
StatusGepubliceerd - 8 aug 2017
Extern gepubliceerdJa
Evenement5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) - Hotel Royal Continental, Napels, Italië
Duur: 26 jun 201727 jun 2017
Congresnummer: 5
http://www.mt-its2017.org/

Congres

Congres5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017)
Verkorte titelMT-ITS2017
LandItalië
StadNapels
Periode26/06/1727/06/17
Internet adres

Citeer dit

Zegers, J. C., Semsar-Kazerooni, E., Fusco, M., & Ploeg, J. (2017). A multi-layer control approach to truck platooning: platoon cohesion subject to dynamical limitations. In 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems : Napoli, Hotel Royal Continental, 26-28 June 2017.Proceedings (blz. 128-133). [8005652] Piscataway: Institute of Electrical and Electronics Engineers. https://doi.org/10.1109/MTITS.2017.8005652
Zegers, Jeroen C. ; Semsar-Kazerooni, Elham ; Fusco, Mauro ; Ploeg, Jeroen. / A multi-layer control approach to truck platooning : platoon cohesion subject to dynamical limitations. 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems : Napoli, Hotel Royal Continental, 26-28 June 2017.Proceedings. Piscataway : Institute of Electrical and Electronics Engineers, 2017. blz. 128-133
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abstract = "Abstract:This paper presents a multi-layer approach to Cooperative Adaptive Cruise Control (CACC) to improve the platoon cohesion subject to limited vehicle actuation capabilities. The objective of the design is to guarantee that the vehicles in the platoon keep their desired relative position, while maintaining desirable platoon properties in terms of disturbance attenuation. To this end, a multi-layered control architecture is proposed. On the lower layer, a unidirectional CACC is employed, involving information exchange in upstream direction. On the upper layer, a coordination variable is exchanged from each vehicle towards its direct preceding vehicle, thus yielding downstream information exchange. As a result, the leading vehicle is aware of the capabilities of the following vehicles, and therefore, is able to adapt its motion, if needed. Consequently, cohesion of a heterogeneous platoon is guaranteed, even in the case of physical limitations, like engine power limits. The developed technique is verified through simulations and experiments.",
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Zegers, JC, Semsar-Kazerooni, E, Fusco, M & Ploeg, J 2017, A multi-layer control approach to truck platooning: platoon cohesion subject to dynamical limitations. in 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems : Napoli, Hotel Royal Continental, 26-28 June 2017.Proceedings., 8005652, Institute of Electrical and Electronics Engineers, Piscataway, blz. 128-133, 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems (MT-ITS 2017) , Napels, Italië, 26/06/17. https://doi.org/10.1109/MTITS.2017.8005652

A multi-layer control approach to truck platooning : platoon cohesion subject to dynamical limitations. / Zegers, Jeroen C.; Semsar-Kazerooni, Elham; Fusco, Mauro; Ploeg, Jeroen.

5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems : Napoli, Hotel Royal Continental, 26-28 June 2017.Proceedings. Piscataway : Institute of Electrical and Electronics Engineers, 2017. blz. 128-133 8005652.

Onderzoeksoutput: Hoofdstuk in Boek/Rapport/CongresprocedureConferentiebijdrageAcademicpeer review

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AU - Ploeg, Jeroen

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N2 - Abstract:This paper presents a multi-layer approach to Cooperative Adaptive Cruise Control (CACC) to improve the platoon cohesion subject to limited vehicle actuation capabilities. The objective of the design is to guarantee that the vehicles in the platoon keep their desired relative position, while maintaining desirable platoon properties in terms of disturbance attenuation. To this end, a multi-layered control architecture is proposed. On the lower layer, a unidirectional CACC is employed, involving information exchange in upstream direction. On the upper layer, a coordination variable is exchanged from each vehicle towards its direct preceding vehicle, thus yielding downstream information exchange. As a result, the leading vehicle is aware of the capabilities of the following vehicles, and therefore, is able to adapt its motion, if needed. Consequently, cohesion of a heterogeneous platoon is guaranteed, even in the case of physical limitations, like engine power limits. The developed technique is verified through simulations and experiments.

AB - Abstract:This paper presents a multi-layer approach to Cooperative Adaptive Cruise Control (CACC) to improve the platoon cohesion subject to limited vehicle actuation capabilities. The objective of the design is to guarantee that the vehicles in the platoon keep their desired relative position, while maintaining desirable platoon properties in terms of disturbance attenuation. To this end, a multi-layered control architecture is proposed. On the lower layer, a unidirectional CACC is employed, involving information exchange in upstream direction. On the upper layer, a coordination variable is exchanged from each vehicle towards its direct preceding vehicle, thus yielding downstream information exchange. As a result, the leading vehicle is aware of the capabilities of the following vehicles, and therefore, is able to adapt its motion, if needed. Consequently, cohesion of a heterogeneous platoon is guaranteed, even in the case of physical limitations, like engine power limits. The developed technique is verified through simulations and experiments.

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Zegers JC, Semsar-Kazerooni E, Fusco M, Ploeg J. A multi-layer control approach to truck platooning: platoon cohesion subject to dynamical limitations. In 5th IEEE International Conference on Models and Technologies for Intelligent Transportation Systems : Napoli, Hotel Royal Continental, 26-28 June 2017.Proceedings. Piscataway: Institute of Electrical and Electronics Engineers. 2017. blz. 128-133. 8005652 https://doi.org/10.1109/MTITS.2017.8005652