Truck platooning on uphill grades under cooperative adaptive cruise control (CACC) |
| |
| Institution: | 1. Friedrich-Schiller-Universität Jena, Lehrstuhl für Operations Management, Carl-Zeiß-Straße 3, Jena 07743, Germany;2. Bergische Universität Wuppertal, Professur für BWL, insbesondere Produktion und Logistik, Rainer-Gruenter-Str. 21, Wuppertal 42119, Germany;3. Friedrich-Schiller-Universität Jena, Lehrstuhl für Management Science, Carl-Zeiß-Straße 3, Jena 07743, Germany;1. Department of Civil and Environmental Engineering, University of Wisconsin – Madison, 2304 Engineering Hall, 1415 Engineering Drive, Madison, WI 53706, USA;2. Faculty of Civil Engineering and Geosciences, Delft University of Technology, Stevinweg 1, Delft 2628 CN, Netherlands |
| |
| Abstract: | This paper examines CACC truck platooning on uphill grades. It was found that the design of CT policy should consider the effects of low crawl speeds on significant upgrades. Three simple solutions, which have different impacts on traffic flow efficiency, are proposed. Furthermore, truck platoons, controlled by a state-of-the-art CACC model, become asymptotically unstable beyond some critical grade. The errors are permanent, suggesting that trucks fail to re-engage after the upgrade. This occurs by complex interactions between the CACC control and the bounded acceleration capabilities of trucks. New control concepts are developed to complement the existing control model and achieve asymptotic (and string) stability. The instability mechanisms and new control concepts are not specific to the control model used. |
| |
| Keywords: | Connected automated vehicles Cooperative adaptive cruise control (CACC) Truck platooning Stability Uphill grade |
| 本文献已被 ScienceDirect 等数据库收录！ |
|
