|Title||A Distributed Framework for Coordinated Heavy-duty Vehicle Platooning |
|Publication Type||Journal Article |
|Year of Publication||2014 |
|Authors||Larson, J, Liang, K, Johansson, KH |
|Journal||IEEE Transactions on Intelligent Transportation Systems |
|Date Published||02/2015 |
|Other Numbers||ANL/MCS-P5100-0214 |
|Abstract||Heavy-duty vehicles traveling in a single file with small intervehicle distances experience a reduced aerodynamic drag and therefore have an improved fuel economy. In this paper, we attempt to maximize the amount of fuel saved by coordinating platoon formation using a distributed network of controllers. These virtual controllers, placed at major intersections in a road network, help coordinate the velocity of approaching vehicles so they arrive at the junction simultaneously and can therefore platoon. This control is initiated only if the cost of forming the platoon is smaller than the savings incurred from platooning. In a large-scale simulation of the German autobahn network, we observe savings surpassing 5% when only few thousand vehicles participate in the system. These results are corroborated by an analysis of real-world heavy-duty vehicle data that shows significant platooning opportunities currently exist, suggesting a slightly invasive network of distributed controllers, such as the one proposed in this paper, can yield considerable savings.