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1
Zhang, Zexi. "The Truck Platooning Routing Optimization Model Based on Multicommodity Network Flow Theory." Journal of Advanced Transportation 2023 (January 7, 2023): 1–12. http://dx.doi.org/10.1155/2023/6906655.
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Truck platooning has been identified as an emerging and promising operational technology with the advantages of fuel consumption savings and carbon emissions reductions. We formulate the truck platooning routing optimization problem as a multi-commodity network flow problem from a transportation optimization and scheduling perspective. Based on fuel consumption savings generated through the reduction of aerodynamic drag by the formation of truck platooning, the route of each truck is also set to be a decision variable needing settlement to facilitate the formation of truck platooning to maximize fuel consumption savings. Considering fuel consumption and detour costs, we construct a truck platooning routing optimization model with minimum overall system fuel consumption as the optimization objective. The output of the routing optimization model could both reflect the composition of each truck platooning on each link and directly show the routings of each truck. To explore the impact of the restrictions on the number of trucks in truck platooning on overall fuel consumption savings, road networks are constructed and the truck platooning routing optimization model is solved by the commercial solver CPLEX. Compared to individual trucks, 8% or 12% fuel consumption savings are achieved, respectively, with the number of trucks being restricted or not restricted in truck platooning. Considering the different fuel reduction rates of the following trucks in platooning on the system performance in terms of the total fuel cost, a sensitivity analysis is also conducted. The results also show that the ideal truck platooning routing plan can be obtained by the proposed model, and the study provides a theoretical reference for the promotion and application of truck platooning.
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Boin, Christian, Lei Lei, and Simon X. Yang. "AVDDPG – Federated reinforcement learning applied to autonomous platoon control." Intelligence & Robotics 2, no. 2 (2022): 145–67. http://dx.doi.org/10.20517/ir.2022.11.
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Since 2016 federated learning (FL) has been an evolving topic of discussion in the artificial intelligence (AI) research community. Applications of FL led to the development and study of federated reinforcement learning (FRL). Few works exist on the topic of FRL applied to autonomous vehicle (AV) platoons. In addition, most FRL works choose a single aggregation method (usually weight or gradient aggregation). We explore FRL's effectiveness as a means to improve AV platooning by designing and implementing an FRL framework atop a custom AV platoon environment. The application of FRL in AV platooning is studied under two scenarios: (1) Inter-platoon FRL (Inter-FRL) where FRL is applied to AVs across different platoons; (2) Intra-platoon FRL (Intra-FRL) where FRL is applied to AVs within a single platoon. Both Inter-FRL and Intra-FRL are applied to a custom AV platooning environment using both gradient and weight aggregation to observe the performance effects FRL can have on AV platoons relative to an AV platooning environment trained without FRL. It is concluded that Intra-FRL using weight aggregation (Intra-FRLWA) provides the best performance for controlling an AV platoon. In addition, we found that weight aggregation in FRL for AV platooning provides increases in performance relative to gradient aggregation. Finally, a performance analysis is conducted for Intra-FRLWA versus a platooning environment without FRL for platoons of length 3, 4 and 5 vehicles. It is concluded that Intra-FRLWA largely out-performs the platooning environment that is trained without FRL.
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Kolat, Máté, and Tamás Bécsi. "Multi-Agent Reinforcement Learning for Highway Platooning." Electronics 12, no. 24 (December 11, 2023): 4963. http://dx.doi.org/10.3390/electronics12244963.
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The advent of autonomous vehicles has opened new horizons for transportation efficiency and safety. Platooning, a strategy where vehicles travel closely together in a synchronized manner, holds promise for reducing traffic congestion, lowering fuel consumption, and enhancing overall road safety. This article explores the application of Multi-Agent Reinforcement Learning (MARL) combined with Proximal Policy Optimization (PPO) to optimize autonomous vehicle platooning. We delve into the world of MARL, which empowers vehicles to communicate and collaborate, enabling real-time decision making in complex traffic scenarios. PPO, a cutting-edge reinforcement learning algorithm, ensures stable and efficient training for platooning agents. The synergy between MARL and PPO enables the development of intelligent platooning strategies that adapt dynamically to changing traffic conditions, minimize inter-vehicle gaps, and maximize road capacity. In addition to these insights, this article introduces a cooperative approach to Multi-Agent Reinforcement Learning (MARL), leveraging Proximal Policy Optimization (PPO) to further optimize autonomous vehicle platooning. This cooperative framework enhances the adaptability and efficiency of platooning strategies, marking a significant advancement in the pursuit of intelligent and responsive autonomous vehicle systems.
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Watanabe, Daisuke, Takeshi Kenmochi, and Keiju Sasa. "An Analytical Approach for Facility Location for Truck Platooning—A Case Study of an Unmanned Following Truck Platooning System in Japan." Logistics 5, no. 2 (May 7, 2021): 27. http://dx.doi.org/10.3390/logistics5020027.
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Truck platooning involves a small convoy of freight vehicles using electronic coupling as an application in automated driving technology, and it is expected to represent a major solution for improving efficiency in truck transportation in the near future. Recently, there have been several trials regarding truck platooning with major truck manufacturers and logistics companies on public roads in the United States, European countries and Japan. There is a need to locate a facility for the formation of truck platooning to realize the unmanned operation of trucks following in a platoon. In this study, we introduce the current status of truck platooning in Japan and present the optimal location model for truck platooning using the continuous approximation model with a numerical experiment, considering the case in Japan. We derived the optimal locational strategy for the combination of the long-haul ratio and the cost factor of platooning. With parameters estimated for several scenarios for the deployment of truck platooning in Japan, the numerical results show that the optimal locational strategy for a platoon of manned vehicles and a platoon with unmanned following vehicles is the edge of the local region, and that for a platoon of fully automated vehicles is the center of the region.
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Sujan, Vivek, Perry T. Jones, and Adam Siekmann. "Characterizing the Payback and Profitability for Automated Heavy Duty Vehicle Platooning." Sustainability 14, no. 4 (February 18, 2022): 2333. http://dx.doi.org/10.3390/su14042333.
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Heavy duty vehicle platooning under highway operating conditions has been projected to provide significant fuel economy gains based on aerodynamic drag improvements of the platooning vehicles. Realizing these benefits and the economic viability under real-world operating conditions presents several challenges. The objective of this paper (the third as part of a series) is to analytically quantify the payback and profitability of heavy-duty vehicles platooning across the U.S. Interstate highway system. In this paper, a rigorous assessment of several factors that influence the platooning system payback for an end-user as well as the revenue potential for suppliers who may be utilizing an equipment lease model dependent on end-user savings, is presented. In this assessment key interactions explored include market adoption rates, platooning velocities, platoon-able daily mileage, platooning likelihood, variations in baseline powertrain fuel economy (diesel or electric), price of fuel (diesel or electricity), platooning fuel economy benefits, price of the added technology, and the impact of natural platooning due to traffic interactions. Further, the paper explores the economic impact of higher levels of vehicle automation for the trailing vehicles in the platoon, where extending the driver Hours of Service (HoS) may provide additional financial benefits. While the approach makes use of a limited fidelity vehicle analytical model for longitudinal dynamics and operations economics, the narrative provides application decision personnel with a mechanism and well-defined set of impact factors to consider as part of their architectural selection process.
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Luo, Weiming, Xu Li, Jinchao Hu, and Weiming Hu. "Modeling and Optimization of Connected and Automated Vehicle Platooning Cooperative Control with Measurement Errors." Sensors 23, no. 21 (November 6, 2023): 9006. http://dx.doi.org/10.3390/s23219006.
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This paper presents a cooperative control method for connected and automated vehicle (CAV) platooning, thus specifically addressing the challenge of sensor measurement errors that can disrupt the stability of the CAV platoon. Initially, the state-space equation of the CAV platooning system was formulated, thereby taking into account the measurement error of onboard sensors. The superposition effect of the sensor measurement errors was statistically analyzed, thereby elucidating its impact on cooperative control in CAV platooning. Subsequently, the application of a Kalman filter was proposed as a means to mitigate the adverse effects of measurement errors. Additionally, the CAV formation control problem was transformed into an optimal control decision problem by introducing an optimal control decision strategy that does not impose pure state variable inequality constraints. The proposed method was evaluated through simulation experiments utilizing real vehicle trajectory data from the Next Generation Simulation (NGSIM). The results demonstrate that the method presented in this study effectively mitigates the influence of measurement errors, thereby enabling coordinated vehicle-following behavior, achieving smooth acceleration and deceleration throughout the platoon, and eliminating traffic oscillations. Overall, the proposed method ensures the stability and comfort of the CAV platooning formation.
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Roger, Sandra, Carmen Botella, Juan J. Pérez-Solano, and Joaquin Perez. "Application of Radio Environment Map Reconstruction Techniques to Platoon-based Cellular V2X Communications." Sensors 20, no. 9 (April 25, 2020): 2440. http://dx.doi.org/10.3390/s20092440.
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Vehicle platoons involve groups of vehicles travelling together at a constant inter-vehicle distance, with different common benefits such as increasing road efficiency and fuel saving. Vehicle platooning requires highly reliable wireless communications to keep the group structure and carry out coordinated maneuvers in a safe manner. Focusing on infrastructure-assisted cellular vehicle to anything (V2X) communications, the amount of control information to be exchanged between each platoon vehicle and the base station is a critical factor affecting the communication latency. This paper exploits the particular structure and characteristics of platooning to decrease the control information exchange necessary for the channel acquisition stage. More precisely, a scheme based on radio environment map (REM) reconstruction is proposed, where geo-localized received power values are available at only a subset of platoon vehicles, while large-scale channel parameters estimates for the rest of platoon members are provided through the application of spatial Ordinary Kriging (OK) interpolation. Distinctive features of the vehicle platooning use case are explored, such as the optimal patterns of vehicles within the platoon with available REM values for improving the quality of the reconstruction, the need for an accurate semivariogram modeling in OK, or the communication cost when establishing a centralized or a distributed architecture for achieving REM reconstruction. The evaluation results show that OK is able to reconstruct the REM in the platoon with acceptable mean squared estimation error, while reducing the control information for REM acquisition in up to 64% in the best-case scenario.
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Maxim, Anca, and Constantin-Florin Caruntu. "Coalitional Distributed Model Predictive Control Strategy for Vehicle Platooning Applications." Sensors 22, no. 3 (January 27, 2022): 997. http://dx.doi.org/10.3390/s22030997.
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This work aims at developing and testing a novel Coalitional Distributed Model Predictive Control (C-DMPC) strategy suitable for vehicle platooning applications. The stability of the algorithm is ensured via the terminal constraint region formulation, with robust positively invariant sets. To ensure a greater flexibility, in the initialization part of the method, an invariant table set is created containing several invariant sets computed for different constraints values. The algorithm was tested in simulation, using both homogeneous and heterogeneous initial conditions for a platoon with four homogeneous vehicles, using a predecessor-following, uni-directionally communication topology. The simulation results show that the coalitions between vehicles are formed in the beginning of the experiment, when the local feasibility of each vehicle is lost. These findings successfully prove the usefulness of the proposed coalitional DMPC method in a vehicle platooning application, and illustrate the robustness of the algorithm, when tested in different initial conditions.
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Sheik, Al Tariq, Carsten Maple, Gregory Epiphaniou, and Mehrdad Dianati. "A Comprehensive Survey of Threats in Platooning—A Cloud-Assisted Connected and Autonomous Vehicle Application." Information 15, no. 1 (December 25, 2023): 14. http://dx.doi.org/10.3390/info15010014.
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Cloud-Assisted Connected and Autonomous Vehicles (CCAV) are set to revolutionise road safety, providing substantial societal and economic advantages. However, with the evolution of CCAV technology, security and privacy threats have increased. Although several studies have been published around the threat and risk estimation aspects of CCAV, limited research exists on the security implications and emerging threat landscapes in the CCAV platooning application. We conducted an extensive review and categorisation of real-world security incidents and created an account of 132 threats from scholarly sources and 64 threats from recorded events in practice. Furthermore, we defined thirty-one (31) trust domains and outlined eight (8) unique attack vectors to supplement existing research efforts for the systematic security analysis of such cyberinfrastructures. Using these findings, we create a detailed attack taxonomy to communicate threat-related information in CCAV and platooning applications and highlight emerging challenges and ways to safeguard the broader CCAV systems. This work acts as a roadmap to existing researchers and practitioners advocating for a ‘security and privacy by design’ framework for a dynamically evolving CCAV threat landscape.
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Aslam, Aqsa, Pedro M. Santos, Frederico Santos, and Luís Almeida. "Empirical Performance Models of MAC Protocols for Cooperative Platooning Applications." Electronics 8, no. 11 (November 12, 2019): 1334. http://dx.doi.org/10.3390/electronics8111334.
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Vehicular ad-hoc networks (VANET) enable vehicles to exchange information on traffic conditions, dynamic status and localization, to enhance road safety and transportation efficiency. A typical VANET application is platooning, which can take advantage of exchanging information on speed, heading and position to allow shorter inter-vehicle distances without compromising safety. However, the platooning performance depends drastically on the quality of the communication channel, which in turn is highly influenced by the medium access control protocol (MAC). Currently, VANETs use the IEEE 802.11p MAC, which follows a carrier sense multiple access with collision avoidance (CSMA/CA) policy that is prone to collisions and degrades significantly with network load. This has led to recent proposals for a time-division multiple access (TDMA)-based MAC that synchronize vehicles’ beacons to prevent or reduce collisions. In this paper, we take CSMA/CA and two TDMA-based overlay protocols, i.e., deployed over CSMA/CA, namely PLEXE-slotted and RA-TDMAp, and carry out extensive simulations with varying platoon sizes, number of occupied lanes and transmit power to deduce empirical models that provide estimates of average number of collisions per second and average busy time ratio. In particular, we show that these estimates can be obtained from observing the number of radio-frequency (RF) neighbours, i.e., number of distinct sources of the packets received by each vehicle per time unit. These estimates can enhance the online adaptation of distributed applications, particularly platooning control, to varying conditions of the communication channel.
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Causevic, V., Y. Fanger, T. Brüdigam, and S. Hirche. "Information-Constrained Model Predictive Control with Application to Vehicle Platooning." IFAC-PapersOnLine 53, no. 2 (2020): 3124–30. http://dx.doi.org/10.1016/j.ifacol.2020.12.1047.
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Balador, Ali, Alessandro Bazzi, Unai Hernandez-Jayo, Idoia de la Iglesia, and Hossein Ahmadvand. "A survey on vehicular communication for cooperative truck platooning application." Vehicular Communications 35 (June 2022): 100460. http://dx.doi.org/10.1016/j.vehcom.2022.100460.
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Bergenhem, Carl, Erik Coelingh, Rolf Johansson, and Ali Tehrani. "V2V Communication Quality: Measurements in a Cooperative Automotive Platooning Application." SAE International Journal of Passenger Cars - Electronic and Electrical Systems 7, no. 2 (April 1, 2014): 462–70. http://dx.doi.org/10.4271/2014-01-0302.
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Ploeg, Jeroen, Nathan van de Wouw, and Henk Nijmeijer. "Lp String Stability of Cascaded Systems: Application to Vehicle Platooning." IEEE Transactions on Control Systems Technology 22, no. 2 (March 2014): 786–93. http://dx.doi.org/10.1109/tcst.2013.2258346.
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Borri, A., D. V. Dimarogonas, K. H. Johansson, M. D. Di Benedetto, and G. Pola. "Decentralized symbolic control of interconnected systems with application to vehicle platooning*." IFAC Proceedings Volumes 46, no. 27 (2013): 285–92. http://dx.doi.org/10.3182/20130925-2-de-4044.00056.
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Maxim, Anca, Ovidiu Păucă, and Constantin-Florin Căruntu. "Coalitional Control Algorithm for a Vehicle Platooning Application – A Selfish Approach." Bulletin of the Polytechnic Institute of Iași. Electrical Engineering, Power Engineering, Electronics Section 69, no. 3 (September 1, 2023): 39–65. http://dx.doi.org/10.2478/bipie-2023-0014.
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Abstract Nowadays, the public roads are getting more congested than ever, with the increase of vehicle numbers. As such, the necessity of improving the traffic flow, while maintaining the passengers comfort is paramount. In this context, a vehicle platoon, defined as a group of different vehicles, which travel with the same velocity and maintain a prescribed inter-vehicle distance, is considered by the control community as an accepted control solution for efficient traveling. This work provides a selfish coalitional control algorithm suitable for a vehicle platooning application, which is a particular case of a networked system composed of multiple sub-systems (or vehicles), which share information via a communication network. The main idea behind the coalitional control is to design a dynamic communication network, in which the communication links between the agents (which control each vehicle) are enabled or disabled, according to the selected communication topology. Moreover, a selfish approach is envisioned, in which each agent is allowed to switch between the communication topologies and to choose its own, most beneficial one, while ensuring the optimality of the entire vehicle platoon. The control algorithm was tested in simulation, on a five vehicle, heterogeneous platoon, and the results show the efficiency of the proposed algorithm.
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Ling, Tianyang, Lu Deng, Wei He, Haibing Wu, and Jiayu Deng. "Load Effect of Automated Truck Platooning on Highway Bridges and Loading Strategy." Sensors 22, no. 20 (October 11, 2022): 7704. http://dx.doi.org/10.3390/s22207704.
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Automated truck platooning (ATP) has gained growing attention due to its advantage in reducing fuel consumption and carbon emissions. However, it poses serious challenges to highway bridges due to the load effect of multiple closely spaced heavy-duty trucks on the bridge. In China, ATP also has great application prospects in the massive and ever-increasing highway freight market. Therefore, the load effects of ATP on bridges need to be thoroughly investigated. In this study, typical Chinese highway bridges and trucks were adopted. ATP load models were designed according to the current Chinese road traffic regulations. The load effects of ATP on highway bridges were calculated using the influence line method and evaluated based on the Chinese bridge design specifications. Results show that the load effect of ATP on bridges increases with the increase in the gross vehicle mass and the truck platooning size but decreases with the increasing inter-truck spacing and the critical wheelbase. The Grade-I (best quality standard) highway bridges are generally capable of withstanding the ATP loads, while caution should be exercised for other bridges. Strategies for preventing serious adverse impacts of ATP load on highway bridges are proposed.
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Wen, Qingji, Bin-Jie Hu, and Lili Zheng. "Outage-Constrained Device-to-Device Links Reuse Maximization and Its Application in Platooning." IEEE Wireless Communications Letters 8, no. 6 (December 2019): 1635–38. http://dx.doi.org/10.1109/lwc.2019.2932735.
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Chou, Yung-Shan, and Yun-Lun Chang. "Structurally constrained controller synthesis for general proper plants with application to vehicle platooning." International Journal of Control 91, no. 7 (May 18, 2017): 1588–608. http://dx.doi.org/10.1080/00207179.2017.1323120.
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MIKAMI, Manabu, and Hitoshi YOSHINO. "Field Trial on 5G Low Latency Radio Communication System Towards Application to Truck Platooning." IEICE Transactions on Communications E102.B, no. 8 (August 1, 2019): 1447–57. http://dx.doi.org/10.1587/transcom.2018ttp0021.
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Wen, Qingji, and Bin-Jie Hu. "Integrated Communication and Control Design for Fuel-Efficient Vehicle Platooning." Electronics 10, no. 24 (December 14, 2021): 3117. http://dx.doi.org/10.3390/electronics10243117.
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As a promising application for autonomous driving, vehicle platooning aims at increasing traffic throughput, improving road safety, and reducing air pollution and fuel consumption. However, frequent traffic perturbations will bring more fuel consumption because vehicles driving in a platoon require more control to ensure safe driving, especially in high-density scenes. In this paper, considering the traffic perturbations and high-density scenes, we integrate communication and control systems to reduce the fuel consumption of a platoon. By obtaining the velocities of multiple vehicles ahead through a long-term evolution-vehicle (LTE-V) network, we propose a modified distributed model predictive control (DMPC) method to smooth traffic perturbations and handle the constraints of vehicle state and control. In addition, considering a limited number of uplink channels that can be reused in the platoon and the uncertainty of wireless channels, a radio resource allocation optimization problem in the LTE-V network is modeled. This problem is solved in two steps including maximum vehicle-to-vehicle (V2V) broadcast distance and minimum weight matching. This resource allocation scheme increases the platoon-based V2V broadcast distance while ensuring the ergodic capacity requirement of the cellular user (CUE) uplink communication and the reliability of platoon-based V2V communication. Simulation results show that the proposed method improves fuel efficiency compared to the existing schemes.
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Colling, Alina, Robert Hekkenberg, and Edwin Van Hassel. "A Viability Study of Waterborne Platooning on the Lower Rhine." European Journal of Transport and Infrastructure Research 21, no. 2 (May 26, 2021): 71–94. http://dx.doi.org/10.18757/ejtir.2021.21.2.5469.
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To achieve a modal shift towards waterborne transport and to deal with the shortage of crewmembers, a platooning concept called the “Vessel Train” is explored for the inland navigation sector. A Vessel Train consists of a lead and various follower vessels. The lead vessel is fully manned and takes over the navigational and situational awareness responsibilities for the follower vessels. This leading action benefits the followers through increasing the vessels’ productivity and enabling crew cost savings. This article investigates the viability of the concept for the lower Rhine region, by presenting a cost model that compares the Vessel Train conditions to the current sailing conditions. This model is used to assess a case study where lead vessels operate on a liner service between Antwerp and Duisburg. Economically viable cases for the concepts’ early-stage application and fully matured implementation are identified, and boundary conditions are presented. The viable conditions vary depending on the vessel type and the operating regime of the reference vessel. A fully matured VT implementation requires a minimum of 26 participants, whereas an early-stage implementation requires 40 participants. The early-stage implementation additionally includes a minimum distance of 200 km to be spent sailing in the VT and the distance sailed in the VT has to amount to a minimum of 50% of the entire trip.
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Fan, Xiayan, Taiping Cui, Chunyan Cao, Qianbin Chen, and Kyung Sup Kwak. "Minimum-Cost Offloading for Collaborative Task Execution of MEC-Assisted Platooning." Sensors 19, no. 4 (February 18, 2019): 847. http://dx.doi.org/10.3390/s19040847.
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In this paper, we study the offloading decision of collaborative task execution between platoon and Mobile Edge Computing (MEC) server. The mobile application is represented by a series of fine-grained tasks that form a linear topology, each of which is either executed on a local vehicle, offloaded to other members of the platoon, or offloaded to a MEC server. The objective of the design is to minimize the cost of tasks offloading and meets the deadline of tasks execution. The cost minimized task decision problem is transformed into the shortest path problem, which is limited by the deadline of the tasks on a directed acyclic graph. The classical Lagrangian Relaxation-based Aggregated Cost (LARAC) algorithm is adopted to solve the problem approximately. Numerical analysis shows that the scheduling method of the tasks decision can be well applied to the platoon scenario and execute the tasks in cooperation with the MEC server. In addition, compared with task local execution, platoon execution and MEC server execution, the optimal offloading decision for collaborative task execution can significantly reduce the cost of task execution and meet deadlines.
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Pimentel, Guilherme A., Rafael de Vasconcelos, Aurélio Salton, and Alexandre Bazanella. "Network Topology Impact on the Identification of Dynamic Network Models with Application to Autonomous Vehicle Platooning." IFAC-PapersOnLine 53, no. 2 (2020): 1031–36. http://dx.doi.org/10.1016/j.ifacol.2020.12.1284.
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SAĞLAM, Harun Buğra, and Klaus Werner SCHMIDT. "Outputs bounds for linear systems with repeated input signals: existence, computation and application to vehicle platooning." TURKISH JOURNAL OF ELECTRICAL ENGINEERING & COMPUTER SCIENCES 26 (2018): 283–93. http://dx.doi.org/10.3906/elk-1610-209.
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Yu, Guang, Shuo Liu, and Qiangqiang Shangguan. "Optimization and Evaluation of Platooning Car-Following Models in a Connected Vehicle Environment." Sustainability 13, no. 6 (March 21, 2021): 3474. http://dx.doi.org/10.3390/su13063474.
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With the rapid development of information and communication technology, future intelligent transportation systems will exhibit a trend of cooperative driving of connected vehicles. Platooning is an important application technique for cooperative driving. Herein, optimized car-following models for platoon control based on intervehicle communication technology are proposed. On the basis of existing indicators, a series of evaluation methods for platoon safety, stability, and energy consumption is constructed. Numerical simulations are used to compare the effects of three traditional models and their optimized counterparts on the car-following process. Moreover, the influence of homogenous and heterogeneous attributes on the platoon is analyzed. The optimized model proposed in this paper can improve the stability and safety of vehicle following and reduce the total fuel consumption. The simulation results show that a homogenous platoon can enhance the overall stability of the platoon and that the desired safety margin (DSM) model is better suited for heterogeneous platoon control than the other two models. This paper provides a practical method for the design and systematic evaluation of a platoon control strategy, which is one of the key focuses in the connected and autonomous vehicle industry.
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MIKAMI, Manabu, Kohei MOTO, Koichi SERIZAWA, and Hitoshi YOSHINO. "Field Trial of Dynamic Mode Switching for 5G New Radio Sidelink Communications towards Application to Truck Platooning." IEICE Transactions on Communications E104.B, no. 9 (September 1, 2021): 1035–45. http://dx.doi.org/10.1587/transcom.2020fgp0009.
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Liu, Bao, Feng Gao, Yingdong He, and Caimei Wang. "Robust Control of Heterogeneous Vehicular Platoon with Non-Ideal Communication." Electronics 8, no. 2 (February 12, 2019): 207. http://dx.doi.org/10.3390/electronics8020207.
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The application of wireless communication to platooning brings such challenges as information delay and varieties of interaction topologies. To compensate for the information delay, a state predictor based control strategy is proposed, which transmits the future information of nodes instead of current values. Based on the closed loop dynamics of platoon with state predictor and feedback controller, a decoupling strategy is presented to analysis and design the platoon control system with lower order by adopting the eigenvalue decomposition of topological matrix. A numerical method based on LMI (Linear Matrix Inequality) is provided to find the required robust performance controller. Moreover, the influence of information delay on performance is studied theoretically and it is found that the tolerable maximum delay is determined by the maximum topological eigenvalue. The effectiveness of the proposed strategy is validated by several comparative simulations under various conditions with other methods.
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Kim, Hyogon, and Taeho Kim. "Vehicle-to-Vehicle (V2V) Message Content Plausibility Check for Platoons through Low-Power Beaconing." Sensors 19, no. 24 (December 12, 2019): 5493. http://dx.doi.org/10.3390/s19245493.
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Although the IEEE Wireless Access in Vehicular Environment (WAVE) and 3GPP Cellular V2X deployments are imminent, their standards do not yet cover an important security aspect; the message content plausibility check. In safety-critical driving situations, vehicles cannot blindly trust the content of received safety messages, because an attacker may have forged false values in it in order to cause unsafe response from the receiving vehicles. In particular, the attacks mounted from remote, well-hidden positions around roads are considered the most apparent danger. So far, there have been three approaches to validating V2X message content: checking based on sensor fusion, behavior analysis, and communication constraints. This paper discusses the three existing approaches. In addition, it discusses a communication-based checking scheme that supplements the existing approaches. It uses low-power transmission of vehicle identifiers to identify remote attackers. We demonstrate its potential address in the case of an autonomous vehicle platooning application.
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Maxim, Anca, Ovidiu Pauca, and Constantin F. Caruntu. "Coalitional Distributed Model Predictive Control Strategy with Switching Topologies for Multi-Agent Systems." Electronics 13, no. 4 (February 18, 2024): 792. http://dx.doi.org/10.3390/electronics13040792.
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Controlling multi-agent systems (MASs) has attracted increased interest within the control community. Since the control challenge consists of the fact that each agent has limited local capabilities, our adopted solution is tailored so that a group of such entities works together and shares resources and information to fulfill a given task. In this work, we propose a coalitional control solution using the distributed model predictive control (DMPC) framework, suitable for a multi-agent system. The methodology has a switching mechanism that selects the best communication topology for the overall system. The proposed control algorithm was validated in simulation using a homogeneous vehicle platooning application with longitudinal dynamics. The available communication topologies were specifically tailored taking into account the information flow between adjacent vehicles. The obtained results show that when the platoon’s string stability is risked, the algorithm switches between different communication topologies. The resulting coalitions between vehicles ensure an increase in the overall stability of the entire system and prove the efficacy of our proposed methodology.
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MIKAMI, Manabu, Koichi SERIZAWA, Kohei MOTO, and Hitoshi YOSHINO. "Field Evaluation of 5G Low Latency and High Reliability Vehicle-to-Vehicle Direct Communication for Application to Truck Platooning." IEICE Transactions on Communications E104.B, no. 9 (September 1, 2021): 1026–34. http://dx.doi.org/10.1587/transcom.2020fgp0007.
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Dai, Wei, Yongjun Pan, Chuan Min, Sheng-Peng Zhang, and Jian Zhao. "Real-Time Modeling of Vehicle’s Longitudinal-Vertical Dynamics in ADAS Applications." Actuators 11, no. 12 (December 16, 2022): 378. http://dx.doi.org/10.3390/act11120378.
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The selection of an appropriate method for modeling vehicle dynamics heavily depends on the application. Due to the absence of human intervention, the demand for an accurate and real-time model of vehicle dynamics for intelligent control increases for autonomous vehicles. This paper develops a multibody vehicle model for longitudinal-vertical dynamics applicable to advanced driver assistance (ADAS) applications. The dynamic properties of the chassis, suspension, and tires are considered and modeled, which results in accurate vehicle dynamics and states. Unlike the vehicle dynamics models built into commercial software packages, such as ADAMS and CarSim, the proposed nonlinear dynamics model poses the equations of motion using a subset of relative coordinates. Therefore, the real-time simulation is conducted to improve riding performance and transportation safety. First, a vehicle system is modeled using a semi-recursive multibody dynamics formulation, and the vehicle kinematics and dynamics are accurately calculated using the system tree-topology. Second, a fork-arm removal technique based on the rod-removal technique is proposed to reduce the number of bodies, relative coordinates, and equations constrained by loop-closure. This increase the computational efficiency even further. Third, the dynamic simulations of the vehicle are performed on bumpy and sloping roads. The accuracy and efficiency of the numerical results are compared to the reference data. The comparative results demonstrate that the proposed vehicle model is effective. This efficient model can be utilized for the intelligent control of vehicle ADAS applications, such as forward collision avoidance, adaptive cruise control, and platooning.
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Varadi, Peter C., Gwo-Jeng Lo, Oliver M. O'Reilly, and Panayiotis Papadopoulos. "A Novel Approach to Vehicle Dynamics using the Theory of a Cosserat Point and its Application to Collision Analyses of Platooning Vehicles." Vehicle System Dynamics 32, no. 1 (July 1, 1999): 85–108. http://dx.doi.org/10.1076/vesd.32.1.85.4227.
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Hua, Chengying, and Wei (David) Fan. "Freeway Traffic Speed Prediction under the Intelligent Driving Environment: A Deep Learning Approach." Journal of Advanced Transportation 2022 (November 16, 2022): 1–9. http://dx.doi.org/10.1155/2022/6888115.
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The intelligent transportation system (ITS) has been proven capable of effectively addressing traffic congestion issues. For vehicles to perform effectively and improve mobility under the intelligent driving environment, real-time prediction of traffic speed is undoubtedly essential. Considering the complex spatiotemporal dependency inherent in traffic data, conventional prediction models encounter many limitations. To improve the prediction performance and investigate the temporal features, this study focuses on emerging deep neural networks (DNNs) using the Caltrans Performance Measurement System (PeMS) data. This research also establishes an intelligent driving environment in the simulation and compares the traditional car-following model with deep learning methods in terms of multiple performance metrics. The results indicate that both supervised learning and unsupervised learning are superior to the simulation-based model on the freeway, and the two deep learning networks are almost identical to one another. Besides, the result reveals that all models have their latent features for different time dimensions under the low traffic loads, transition states, and heavy traffic loads. This is critical in the application of prediction technologies in ITS. The findings can assist transportation researchers and traffic engineers in both traffic operation and management, such as bottleneck identification, platooning control, and route planning.
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Gharti, Min Prasad, and Shashidhar Ram Joshi. "Performance Analysis of V2X Services in 5G Millimeter Wave Communication." Journal of Science and Technology 3, no. 1 (December 31, 2023): 1–5. http://dx.doi.org/10.3126/jost.v3i1.69057.
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Vehicle to everything (V2X) is the connection of vehicle and any other thing like vehicle, infrastructure, network, pedestrian etc. The emerging fifth generation (5G) cellular technology is the key enabler of digitalization of the transportation system which is still not commercialized. Millimeter band radio waves are proposed for 5G technology to get the large bandwidth. The millimeter band radio waves are highly attenuated by rain, vegetation, street lamps, buildings, etc. The emerging application in the field of vehicular industry like high density vehicle platooning, pre-crash sensing and automated overtake requires better quality of service (QoS). The results show the minimum SINR value of LoS channel is -13 dB and minimum SINR value of NLoS is -25.68 dB over the variation of distance from 10m to 400m, where the threshold SINR value is -10dB. The minimum transport block loss in the physical layer is 20% in 5 nodes whereas 60% in 40 nodes with constant distance 150m between gNB and UE in the NLoS channel. The maximum delay found is less than 1.5 millisecond. The Friis propagation loss model is used in the LoS channel whereas the millimeter wave propagation loss as well as the shadowing model is used in the NLoS channel. This research work is validated in NS3 simulator.
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Zhang, Kun. "A Review of Current Research and Future Development of Autonomous Driving Technology." Applied and Computational Engineering 100, no. 1 (November 8, 2024): 22–28. http://dx.doi.org/10.54254/2755-2721/100/20251745.
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Abstract: At present, the automobile industry is undergoing a new round of technological revolution, and autonomous driving technology is also experiencing a period of rapid development, with very active research and technology iteration. Autonomous driving can prevent accidents that occur due to human errors such as inattentiveness and driver fatigue, thereby enhancing road safety. Additionally, autonomous technology helps alleviate traffic congestion and optimize flow by utilizing coordinated driving strategies, such as vehicle-to-vehicle communication (V2V) and vehicle-to-infrastructure communication (V2I), enabling platooning, intelligent rerouting, and other advanced driving techniques. The autonomous driving system can control the vehicle according to the optimal driving strategy, can drive the vehicle in a smoother way, optimize fuel consumption or power use, thereby reducing operating costs and improving travel experience, and has a wide range of application potential and potential social value. This paper summarizes the current research status and development trend of autonomous driving technology, summarizes the current research status of autonomous driving technology from the aspects of environmental perception, machine learning, control execution, etc., while also projecting future directions for the field. Advancements in this technology have the potential to revolutionize transportation, offering significant convenience and transforming daily life. Moreover, it can promote the development of major industries, increase national GDP, affect urban planning and layout, and even improve our living environment and benefit ecological construction.
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Zhang, Kun. "A Review of Current Research and Future Development of Autonomous Driving Technology." Applied and Computational Engineering 116, no. 1 (November 8, 2024): 22–28. https://doi.org/10.54254/2755-2721/116/20251745.
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At present, the automobile industry is undergoing a new round of technological revolution, and autonomous driving technology is also experiencing a period of rapid development, with very active research and technology iteration. Autonomous driving can prevent accidents that occur due to human errors such as inattentiveness and driver fatigue, thereby enhancing road safety. Additionally, autonomous technology helps alleviate traffic congestion and optimize flow by utilizing coordinated driving strategies, such as vehicle-to-vehicle communication (V2V) and vehicle-to-infrastructure communication (V2I), enabling platooning, intelligent rerouting, and other advanced driving techniques. The autonomous driving system can control the vehicle according to the optimal driving strategy, can drive the vehicle in a smoother way, optimize fuel consumption or power use, thereby reducing operating costs and improving travel experience, and has a wide range of application potential and potential social value. This paper summarizes the current research status and development trend of autonomous driving technology, summarizes the current research status of autonomous driving technology from the aspects of environmental perception, machine learning, control execution, etc., while also projecting future directions for the field. Advancements in this technology have the potential to revolutionize transportation, offering significant convenience and transforming daily life. Moreover, it can promote the development of major industries, increase national GDP, affect urban planning and layout, and even improve our living environment and benefit ecological construction.
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Hamiga, Władysław Marek, and Wojciech Bronisław Ciesielka. "Numerical Analysis of Aeroacoustic Phenomena Generated by Heterogeneous Column of Vehicle." Energies 15, no. 13 (June 25, 2022): 4669. http://dx.doi.org/10.3390/en15134669.
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The last decade has seen an exponential interest in conventional and unconventional energy issues. This trend has also extended to road transport issues and is driven by expectations to minimize fuel and/or energy consumption and negative environmental impact. In the global literature, much attention is focused on the work of autonomous transport, both passenger and trucks, and on the phenomena of platooning. The paper presents original aerodynamic and aeroacoustic tests of heterogeneous vehicle columns. In the work, models of a car, a van and a truck were built, followed by heterogeneous columns with different distances between the vehicles. Computational fluid dynamics (CFD) methods and two turbulence models, k−ω shear stress transport (SST) and large eddy simulation (LES), were used in this study. The study enabled the determination of drag coefficients and lift force. Application of the Ffowcs Williams–Hawkings (FW-H) analogy allowed for the determination of the distributions of sound pressure levels generated by moving vehicles and columns of vehicles. In order to verify the developed models, acoustic field measurements were made for the following passages: passenger car, van, and truck. Acoustic pressure level and A-weighted sound level (SPL) were measured in Krakow and in its vicinity. Research has shown that grouping vehicles into optimal columns and maintaining distances between vehicles using modern control systems can result in significant energy savings and reduce harmful emissions to the environment.
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Faber, Timo, Salil Sharma, Maaike Snelder, Gerdien Klunder, Lóránt Tavasszy, and Hans van Lint. "Evaluating Traffic Efficiency and Safety by Varying Truck Platoon Characteristics in a Critical Traffic Situation." Transportation Research Record: Journal of the Transportation Research Board 2674, no. 10 (July 22, 2020): 525–47. http://dx.doi.org/10.1177/0361198120935443.
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Truck platooning is the application of cooperative adaptive cruise control where multiple trucks are electronically linked using vehicle-to-vehicle communication. Although truck platoons might bring fuel savings and emission reductions, their interactions with surrounding traffic and resulting impact on traffic operations and safety are not fully understood. The objective of this paper is to evaluate traffic efficiency and safety in a critical traffic situation when truck platoons are introduced in the system. This paper presents a case study of a merging section, located on A15 motorway, near the port of Rotterdam in the Netherlands. We consider two scenarios: platoons on a mainline carriageway and platoons merging onto a mainline carriageway. We simulate the movements of truck platoons in a microscopic traffic simulator. Longitudinal and lateral controllers for truck platoons, proposed in this paper, can ensure their collision-free, string-stable, and smooth driving behavior. Simulation experiments are conducted by varying platoon characteristics such as market penetration, length, intra-platoon headway, platoon speed, and their ability to create a gap for changing lanes. The results suggest that truck platoons on the mainline carriageway may be detrimental to traffic efficiency and safety in high traffic intensity, whereas truck platoons originating from an on-ramp produce limited impacts. Further, we conduct both local and global sensitivity analyses to analyze the impact of platoon characteristics on traffic efficiency and safety. The findings emphasize that uncertainty in traffic efficiency and safety strongly depends on the interactions among platoon characteristics, traffic demand, and traffic scenarios.
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Mauro, Raffaele, and Andrea Pompigna. "A Statistically Based Model for the Characterization of Vehicle Interactions and Vehicle Platoons Formation on Two-Lane Roads." Sustainability 14, no. 8 (April 14, 2022): 4714. http://dx.doi.org/10.3390/su14084714.
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Two-lane roads are the most significant part of the road network in many countries, and are widely used for systematic and non-systematic daily travels. Traffic on a two-lane road typically involves a high level of interaction among vehicles, with the formation of platoons. As a part of the road network of a country, they represent a crucial development factor from a social and economic point of view, because they ensure the close accessibility of the innermost areas and local markets, and favor the connection between the nodal points of the logistic system and the last mile of the supply and distribution chain. Thus, the estimation of the presence of vehicle platoons makes it possible to develop significant indicators for performance analysis on this type of road, which in turn is the basis for planning, upgrading, and improving transport programs to find a sustainable balance between environmental, social, and economic qualities. This paper presents a statistically based model, the Two-Lane Roads Statistical Platooning Model (TLR-SPM), which allows for evaluating the percentage of vehicles which are free to travel at the desired speed and of non-free vehicles constrained to travel in platoons at lower speeds than desired, as a function of the traffic flow. Based on a data-driven methodological approach, TLR-SPM allows for going beyond the critical threshold value for time headways, such as the widespread 3 s threshold, but lacks the need to hypothesize, identify, or estimate the probability laws for speed and time headway. From the formal treatment of the general statistical method, the paper shows the data processing procedure through its application to a real case. As shown by the application case and the comparisons with the results of other methods, the proposed model can significantly adapt to the experimental data and can support in analyzing a two-lane road in its operating conditions to promote its safety and efficiency as part of a sustainable transport system.
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Guo, Taolei, Junjie Chen, and Pei Liu. "Impact of Emerging Transport Technologies on Freight Economic and Environmental Performance: A System Dynamics View." International Journal of Environmental Research and Public Health 19, no. 22 (November 16, 2022): 15077. http://dx.doi.org/10.3390/ijerph192215077.
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Road freight transport promotes economic development while impeding the future of green development due to excessive fossil fuel use. Road freight enterprises need to adapt to stricter environmental regulations while maintaining a reasonable level of profit. However, this is not easy in a growing economy such as China’s, whose domestic freight demand is increasing rapidly with economic growth. The development of emerging transport technologies (ETTs) creates great potential for reducing the negative environmental impact of road freight transport. This study considers five candidate ETTs: eco-driving, fleet platooning, vehicle utilization, optimized vehicle design, and renewable energy trucks. A system dynamics analytical framework is established to explore the long-term impact of ETTs on road profit and greenhouse gas (GHG) emissions under the uncertainty of macroeconomic development. Road freight enterprises affiliated with the Qingdao port in China are taken as a case study. The economic and environmental impact of their adoption of ETTs is projected from 2020 to 2035. The results show that the economic growth in the port hinterland leads to an increase in road freight volume and profit, but it also yields a greater amount of GHG emissions from road transport. All of the candidate ETTs exhibit a positive effect on reducing GHG emissions from road transport, but they also cause profit losses due to a high application cost, even though they reduce transport operating costs by fuel savings. The results of the Sobol sensitivity analysis show that GHG reductions are sensitive to the adoption of ETTs. Thus, a carbon-based compensation mechanism is introduced. With this mechanism, road freight enterprises should prioritize vehicle utilization, optimized vehicle design, and eco-driving in their adoption of ETTs for more sustainable development. The results provide systems-based insights into ETT deployment decisions for road freight companies.
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Rui, Yikang, Shu Wang, Renfei Wu, and Zhe Shen. "Research on Truck Lane Management Strategies for Platooning Speed Optimization and Control on Multi-Lane Highways." Applied Sciences 13, no. 6 (March 22, 2023): 4072. http://dx.doi.org/10.3390/app13064072.
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Automated truck platooning has become an increasingly popular research subject, and its applicability to highways is considered one of the earliest possible landing scenarios for automated driving. However, there is a lack of research regarding the combination of truck platooning technology and truck lane management strategy on multilane highways in the environment of a cooperative vehicle–infrastructure system (CVIS). For highway weaving sections under the CVIS environment, this paper proposes a truck platooning optimal speed control model based on multi-objective optimization. Through a combination of model predictive control and the cell transmission model, this approach considers the bottleneck cell traffic flow, overall vehicle travel time, and truck platooning fuel consumption as objectives. By conducting experiments on a mixed traffic flow simulation platform, the multi-lane management strategies and optimal speed control effect were evaluated through different scenarios. This study also determined the appropriate proportion of truck platooning for an exclusive lane and to increase truck lanes, thus providing effective lane management decision support for highway managers.
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Malik, Sumbal, Manzoor Ahmed Khan, and Hesham El-Sayed. "Collaborative Autonomous Driving—A Survey of Solution Approaches and Future Challenges." Sensors 21, no. 11 (May 29, 2021): 3783. http://dx.doi.org/10.3390/s21113783.
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Sooner than expected, roads will be populated with a plethora of connected and autonomous vehicles serving diverse mobility needs. Rather than being stand-alone, vehicles will be required to cooperate and coordinate with each other, referred to as cooperative driving executing the mobility tasks properly. Cooperative driving leverages Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I) communication technologies aiming to carry out cooperative functionalities: (i) cooperative sensing and (ii) cooperative maneuvering. To better equip the readers with background knowledge on the topic, we firstly provide the detailed taxonomy section describing the underlying concepts and various aspects of cooperation in cooperative driving. In this survey, we review the current solution approaches in cooperation for autonomous vehicles, based on various cooperative driving applications, i.e., smart car parking, lane change and merge, intersection management, and platooning. The role and functionality of such cooperation become more crucial in platooning use-cases, which is why we also focus on providing more details of platooning use-cases and focus on one of the challenges, electing a leader in high-level platooning. Following, we highlight a crucial range of research gaps and open challenges that need to be addressed before cooperative autonomous vehicles hit the roads. We believe that this survey will assist the researchers in better understanding vehicular cooperation, its various scenarios, solution approaches, and challenges.
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Hoang, Le-Nam, Elisabeth Uhlemann, and Magnus Jonsson. "An Efficient Message Dissemination Technique in Platooning Applications." IEEE Communications Letters 19, no. 6 (June 2015): 1017–20. http://dx.doi.org/10.1109/lcomm.2015.2416174.
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Yi, Kefu, Lixia Tang, Wei Hao, Zhaolei Zhang, Rongdong Hu, and Kai Luo. "A Mixed Equilibrium Model and Optimal Path Platooning Method for CAV Platoons in Heterogeneous Traffic Flow." Journal of Advanced Transportation 2023 (April 29, 2023): 1–11. http://dx.doi.org/10.1155/2023/9370609.
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As the emergence of the connected and autonomous vehicles (CAVs), the platooning technology is believed to play a key role in the future intelligent transportation system. However, current studies mainly focus on the beneficial sides of CAV platoons, and less attention is given to their negative effects. This study develops a mixed equilibrium model for CAV platoons and human-driven vehicles (HDVs), which consider both the positive and negative sides of CAV platooning. On the positive side, CAV platoons are assumed to follow user equilibrium (UE) route choice for their information advantages, while HDVs to follow stochastic user equilibrium (SUE). CAV platoons are also presumed to improve the road capacity. On the negative side, the speed of CAV platoons is slower than that of HDVs for safety stakes, which will impede the latter to overtake. The HDVs is split up into overtaking and nonovertaking flows with different speeds. Furthermore, the model is built up as a mixed UE-SUE equilibrium problem and reformulated as a nonlinear complementarity problem. In addition, an optimal path platooning method is proposed to reduce the negative effects, by integrating travel costs of both CAV platoons and HDVs into its objective function. Numerical results show that the introduction of CAV platoons may increase the travel cost at the initial stage, and the proposed method can effectively reduce the platooning disturbance, thus helps promoting the wider applications of CAV platoons.
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Zhang, Linlin, Feng Chen, Xiaoxiang Ma, and Xiaodong Pan. "Fuel Economy in Truck Platooning: A Literature Overview and Directions for Future Research." Journal of Advanced Transportation 2020 (January 3, 2020): 1–10. http://dx.doi.org/10.1155/2020/2604012.
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A truck platoon is a set of virtually linked trucks that travel in tandem with small intervehicle distances. Several studies have proved that traveling in platoons can significantly improve fuel economy due to the reduced aerodynamic drag. However, most literature only provides scattered pieces of information regarding fuel economy in truck platoons. Therefore, a literature survey is needed to understand what has been studied and what problems remain to be further addressed. This paper presents an overview of existing studies to illustrate the state of the art about fuel savings for truck platooning. Specifically, it summarized the methodologies, the contributing factors of fuel consumption, the coordination methods to improve the platooning rate, and the look-ahead control strategies to generate fuel-efficient speed profiles for each vehicle driving in a platoon over different road grades. After that, the autonomous truck platooning was introduced, and we raised and discussed a couple of outstanding questions to be addressed in future work.
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de Zarzà, I., J. de Curtò, Gemma Roig, and Carlos T. Calafate. "LLM Adaptive PID Control for B5G Truck Platooning Systems." Sensors 23, no. 13 (June 25, 2023): 5899. http://dx.doi.org/10.3390/s23135899.
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This paper presents an exploration into the capabilities of an adaptive PID controller within the realm of truck platooning operations, situating the inquiry within the context of Cognitive Radio and AI-enhanced 5G and Beyond 5G (B5G) networks. We developed a Deep Learning (DL) model that emulates an adaptive PID controller, taking into account the implications of factors such as communication latency, packet loss, and communication range, alongside considerations of reliability, robustness, and security. Furthermore, we harnessed a Large Language Model (LLM), GPT-3.5-turbo, to deliver instantaneous performance updates to the PID system, thereby elucidating its potential for incorporation into AI-enabled radio and networks. This research unveils crucial insights for augmenting the performance and safety parameters of vehicle platooning systems within B5G networks, concurrently underlining the prospective applications of LLMs within such technologically advanced communication environments.
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Narayanasamy, Iswarya, and Venkateswari Rajamanickam. "A Cascaded Multi-Agent Reinforcement Learning-Based Resource Allocation for Cellular-V2X Vehicular Platooning Networks." Sensors 24, no. 17 (August 30, 2024): 5658. http://dx.doi.org/10.3390/s24175658.
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The platooning of cars and trucks is a pertinent approach for autonomous driving due to the effective utilization of roadways. The decreased gas consumption levels are an added merit owing to sustainability. Conventional platooning depended on Dedicated Short-Range Communication (DSRC)-based vehicle-to-vehicle communications. The computations were executed by the platoon members with their constrained capabilities. The advent of 5G has favored Intelligent Transportation Systems (ITS) to adopt Multi-access Edge Computing (MEC) in platooning paradigms by offloading the computational tasks to the edge server. In this research, vital parameters in vehicular platooning systems, viz. latency-sensitive radio resource management schemes, and Age of Information (AoI) are investigated. In addition, the delivery rates of Cooperative Awareness Messages (CAM) that ensure expeditious reception of safety-critical messages at the roadside units (RSU) are also examined. However, for latency-sensitive applications like vehicular networks, it is essential to address multiple and correlated objectives. To solve such objectives effectively and simultaneously, the Multi-Agent Deep Deterministic Policy Gradient (MADDPG) framework necessitates a better and more sophisticated model to enhance its ability. In this paper, a novel Cascaded MADDPG framework, CMADDPG, is proposed to train cascaded target critics, which aims at achieving expected rewards through the collaborative conduct of agents. The estimation bias phenomenon, which hinders a system’s overall performance, is vividly circumvented in this cascaded algorithm. Eventually, experimental analysis also demonstrates the potential of the proposed algorithm by evaluating the convergence factor, which stabilizes quickly with minimum distortions, and reliable CAM message dissemination with 99% probability. The average AoI quantity is maintained within the 5–10 ms range, guaranteeing better QoS. This technique has proven its robustness in decentralized resource allocation against channel uncertainties caused by higher mobility in the environment. Most importantly, the performance of the proposed algorithm remains unaffected by increasing platoon size and leading channel uncertainties.
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Chang, Qing, and Hong Chen. "Enhancing Freeway Traffic Capacity: The Impact of Autonomous Vehicle Platooning Intensity." Applied Sciences 14, no. 4 (February 7, 2024): 1362. http://dx.doi.org/10.3390/app14041362.
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This paper proposes a theoretical model to discuss the capacity of heterogeneous saturated flow. A crucial indicator, platooning intensity, which represents the willingness of connected and autonomous vehicles to form platoons, is taken into consideration. The relationship between platooning intensity and the penetration rate of connected and autonomous vehicles is also evaluated. Numerical analysis is conducted based on relevant parameters, which further improves the proposed theoretical model. Finally, a microscopic simulation is used to verify the accuracy of the proposed model. The results indicate that both the speed and the market penetration rate have a significant impact on capacity; however, the impact is not linear. The slope of the speed-affected curve gradually decreases, whereas the slope of the market penetration rate-affected curve gradually increases. The impact of market penetration rate on theoretical capacity intensifies with the increase in speed. As the number of vehicles within a fleet increase, the weighted average of platooning intensity gradually tends towards the market penetration rate. The formulation offers important insights into traffic performance with heterogeneous flow.
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Srisomboon, Issaree, and Sanghwan Lee. "Efficient Position Change Algorithms for Prolonging Driving Range of a Truck Platoon." Applied Sciences 11, no. 22 (November 9, 2021): 10516. http://dx.doi.org/10.3390/app112210516.
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Cooperative automated driving technology has emerged as a potential way to increase the efficiency of transportation systems and enhance traffic safety by allowing vehicles to exchange relevant information via wireless communication. Truck platooning utilizes this technology and achieves synchronized braking and acceleration, controlling two or more trucks simultaneously. This synchronized control makes driving with a very short inter-vehicle distance among trucks possible and reduces aerodynamic drag. This provides significant fuel consumption reduction, both in leading and trailing trucks, and achieves fuel-saving improvement. However, the static positioning sacrifices trucks in the front since they consume more fuel energy because of more air resistance than the rears. To solve this in-equivalent fuel consumption reduction benefit, this paper presents several heuristic algorithms to balance fuel consumption reduction and prolong the driving ranges by exploiting position changes among trucks in a platoon. Furthermore, the proposed algorithms try to reduce the number of position changes as much as possible to prevent any fuel waste caused by the unnecessary position change operations. In this manner, each truck in the platoon is likely to share a similar fuel consumption reduction with fewer position change counts, thus addressing the challenge of in-equivalent fuel savings distribution and obtaining optimal fuel efficiency. Our extensive simulation results show that the proposed algorithms can prolong the total distance by approximately 3% increased in two-truck platooning and even higher in six-trucks platooning of approximately 8%. Moreover, our proposed algorithms can decrease the position change count and ensure that trucks only switch to position arrangement once with no duplicate. Therefore, truck platooning obtains the maximum driving range with fewer position change counts, thus achieving efficient fuel saving.