| 1. |
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| 2. |
- Alam, Assad, et al.
(author)
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Cooperative driving according to Scoop
- 2011
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Reports (other academic/artistic)abstract
- KTH Royal Institute of Technology and Scania are entering the GCDC 2011 under the name Scoop –Stockholm Cooperative Driving. This paper is an introduction to their team and to the technical approach theyare using in their prototype system for GCDC 2011.
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| 3. |
- Besselink, Bart, et al.
(author)
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Cyber-Physical Control of Road Freight Transport
- 2016
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In: Proceedings of the IEEE. - : IEEE. - 0018-9219 .- 1558-2256. ; 104:5, s. 1128-1141
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Journal article (peer-reviewed)abstract
- Freight transportation is of outmost importance in our society and is continuously increasing. At the same time, transporting goods on roads accounts for about 26% of the total energy consumption and 18% of all greenhouse gas emissions in the European Union. Despite the influence the transportation system has on our energy consumption and the environment, road transportation is mainly done by individual long-haulage trucks with no real-time coordination or global optimization. In this paper, we review how modern information and communication technology supports a cyber-physical transportation system architecture with an integrated logistic system coordinating fleets of trucks traveling together in vehicle platoons. From the reduced air drag, platooning trucks traveling close together can save about 10% of their fuel consumption. Utilizing road grade information and vehicle-to-vehicle communication, a safe and fuel-optimized cooperative look-ahead control strategy is implemented on top of the existing cruise controller. By optimizing the interaction between vehicles and platoons of vehicles, it is shown that significant improvements can be achieved. An integrated transport planning and vehicle routing in the fleet management system allows both small and large fleet owners to benefit from the collaboration. A realistic case study with 200 heavy-duty vehicles performing transportation tasks in Sweden is described. Simulations show overall fuel savings at more than 5% thanks to coordinated platoon planning. It is also illustrated how well the proposed cooperative look-ahead controller for heavy-duty vehicle platoons manages to optimize the velocity profiles of the vehicles over a hilly segment of the considered road network.
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| 4. |
- Čičić, Mladen, 1991-, et al.
(author)
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Platoon Merging Distance Prediction using a Neural Network Vehicle Speed Model
- 2017
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In: IFAC-PapersOnLine. - : Elsevier BV. - 2405-8963. ; 50:1, s. 3720-3725
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Journal article (peer-reviewed)abstract
- Heavy-duty vehicle platooning has been an important research topic in recent years. By driving closely together, the vehicles save fuel by reducing total air drag and utilize the road more efficiently. Often the heavy-duty vehicles will catch-up in order to platoon while driving on the common stretch of road, and in this case, a good prediction of when the platoon merging will take place is required in order to make predictions on overall fuel savings and to automatically control the velocity prior to the merge. The vehicle speed prior to platoon merging is mostly influenced by the road grade and by the local traffic condition. In this paper, we examine the influence of road grade and propose a method for predicting platoon merge distance using vehicle speed prediction based on road grade. The proposed method is evaluated using experimental data from platoon merging test runs done on a highway with varying level of traffic. It is shown that under reasonable conditions, the error in the merge distance prediction is smaller than 8%.
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| 5. |
- Farokhi, Farhad, et al.
(author)
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Cooperation Patterns between Fleet Owners for Transport Assignments
- 2015
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In: 2015 IEEE CONFERENCE ON CONTROL AND APPLICATIONS (CCA 2015), IEEE conference proceedings. - : IEEE. - 9781479977871 ; , s. 1124-1129
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Conference paper (peer-reviewed)abstract
- We study cooperation patterns between the heavy- duty vehicle fleet owners to reduce their costs, improve their fuel efficiency, and decrease their emissions. We consider a distributed cooperation pattern in which the fleet owners can communicate directly with each other to form alliances. A centralized cooperation pattern is studied in which the fleet owners pay to subscribe to a third-party service provider that pairs their vehicles for cooperation. The effects of various pricing strategies on the behaviour of fleet owners and their inclusiveness are analyzed. It is shown that the fleet size has an essential role.
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| 6. |
- Larson, Jeffrey, et al.
(author)
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A Distributed Framework for Coordinated Heavy-Duty Vehicle Platooning
- 2015
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In: IEEE transactions on intelligent transportation systems (Print). - 1524-9050 .- 1558-0016. ; 16:1, s. 419-429
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Journal article (peer-reviewed)abstract
- Heavy-duty vehicles (HDVs) traveling in single file with small intervehicle distances experience reduced aerodynamic drag and, therefore, have 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 largescale simulation of the German Autobahn network, we observe that savings surpassing 5% when only a few thousand vehicles participate in the system. These results are corroborated by an analysis of real-world HDV data that show significant platooning opportunities currently exist, suggesting that a slightly invasive network of distributed controllers, such as the one proposed in this paper, can yield considerable savings.
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| 7. |
- Larson, Jeffrey, et al.
(author)
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Coordinated route optimization for heavy-duty vehicle platoons
- 2013
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In: IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. - : IEEE conference proceedings. - 9781479929146 ; , s. 1196-1202
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Conference paper (peer-reviewed)abstract
- Heavy-duty vehicles traveling in platoons consume fuel at a reduced rate. In this paper, we attempt to maximize this benefit by introducing local controllers throughout a road network to facilitate platoon formations with minimal information. By knowing a vehicle's position, speed, and destination, the local controller can quickly decide how its speed should be possibly adjusted to platoon with others in the near future. We solve this optimal control and routing problem exactly for small numbers of vehicles, and present a fast heuristic algorithm for real-time use. We then implement such a distributed control system through a large-scale simulation of the German autobahn road network containing thousands of vehicles. The simulation shows fuel savings from 1-9%, with savings exceeding 5% when only a few thousand vehicles participate in the system. We assume no vehicles will travel more than the time required for their shortest paths for the majority of the paper. We conclude the results by analyzing how a relaxation of this assumption can further reduce fuel use.
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| 8. |
- Liang, Kuo-Yun, 1987-
(author)
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Coordination and Routing for Fuel-Efficient Heavy-Duty Vehicle Platoon Formation
- 2014
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Licentiate thesis (other academic/artistic)abstract
- Heavy-duty vehicle (HDV) manufacturers and fleet owners are facing great challenges for a maintained sustainable transport system as the demand for road freight transport is continuously increasing. HDV platooning is one potential solution topartially mitigate the environmental impacts as well as to reduce the fuel consumption, improve safety, and increase the throughput on congested highways. Although the concept of vehicle platooning has existed for decades, it has only been recently possible to implement in practice. Advancement in information and communications technology as well as in on-board technology allow the vehicles to connect with each other and the infrastructure. As goods have different origins, destinations, and time restrictions, it is not evident how the HDVs can fully utilize the platooning benefits during transport missions. There is a need to systematically coordinate scattered vehicles on the road network to form platoons in order to maximize the benefits of platooning. This thesis presents a framework for the coordination of HDV platoon formations. The focus lies on analyzing and validating the possibility to form platoons through fuel-efficient coordination decisions. A functional architecture for goods transport is presented, which divides the overall complex transport system into manageable layers. A vehicle model is developed to compute the impact a coordination decision has on the fuel cost. Platoon coordination consists of rerouting vehicles, adjusting departure times, and adjusting speed profiles. The focus in this thesis is on adjusting vehicles’ speeds through catch-up coordination. The first main contribution of the thesis is the investigation of how and when a pair of vehicles should form platoons given their position, speed, and destination. We derive a break-even ratio where the fuel cost of catching up and platooning is equal to the fuel cost of maintaining the original profile. By comparing the distance to destination and the distance to the candidate vehicle ahead with the break-even ratio, we can conclude whether a catch-up coordination would be beneficial or not. We also show that the road topography has little or no impact on the fuel savings of catch-up coordination. The second contribution is the study of extending the catch-up coordination into a road network with scattered vehicles with the possibility to form platoons and plan routes on junctions. Incoming vehicles on a road junction are aware of other incoming vehicles and of their position, speed, and destination. The vehicles can decide if a platoon should be formed and which path to take. Simulations on the German road network show fuel savings exceeding 5% with a few thousand vehicles. For our third contribution, we use real vehicle probe data obtained from a fleet management system to investigate how catch-up coordination and departure time adjustments can increase the fuel savings from today’s spontaneous platooning. The results show that coordination can increase the fuel savings and the platooning rate significantly. We managed to increase it with a factor of nine despite having only 200–350 active HDVs on the network. The main results of the thesis indicate that it is possible to increase fuel savings noticeably with simple regional coordination schemes for vehicle platoons.
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| 9. |
- Liang, Kuo-Yun, et al.
(author)
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Experiments on Platoon Formation of Heavy Trucks in Traffic
- 2016
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In: 2016 IEEE 19TH INTERNATIONAL CONFERENCE ON INTELLIGENT TRANSPORTATION SYSTEMS (ITSC). - : IEEE. - 9781509018895 ; , s. 1813-1819
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Conference paper (peer-reviewed)abstract
- Truck platooning is a means to significantly reduce the fuel consumption for the follower vehicle as the air drag is reduced when the inter-vehicle gap between the trucks is reduced. As each truck is assigned with different start and end locations, platoons will be frequently formed and split, while driving to their respective destinations. Additionally, the trucks are not the only ones driving on the road as there are other road users, which may influence how well a platoon can be formed. In this paper, an experimental study is conducted to investigate how traffic may affect a merging maneuver of two trucks trying to form a platoon on a public highway during rush hours. We obtained traffic data from Stockholm's motorway control system to determine the traffic condition for each testrun. Furthermore, we tried different truck speeds to study if it had any impacts on merge delay. Even in light traffic condition, a platoon merge could be delayed with over 10 % compared to the ideal case with the absence of traffic. This is partially caused by persistent drivers in which we encountered them in a fourth of the runs.
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| 10. |
- Liang, Kuo-Yun
(author)
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Fuel-Efficient Heavy-Duty Vehicle Platoon Formation
- 2016
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Doctoral thesis (other academic/artistic)abstract
- There is a need for intelligent freight transport solutions as the demand for road freight transport is continuously increasing while carbon footprint needs to be significantly reduced. Heavy-duty vehicle (HDV) platooning is one potential solution to partially mitigate the environmental impacts as well as to reduce fuel consumption, improve traffic safety, and increase traffic throughput on congested highways. However, as each goods transport has different origin, destination, and time restriction, it is not evident how the HDVs, carrying the goods, can fully utilize the platooning benefits during individual transport missions. Thus, there is a need to systematically coordinate scattered vehicles on the road to form platoons in order to maximize the benefits of platooning. This thesis addresses the problem of merging scattered HDVs to form platoons in traffic. The first contribution of the thesis is the investigation of how and when a pair of HDVs should form platoons given their positions, speeds, and destinations. We formulate the problem as an optimization problem and we derive a break-even ratio that describes how far a vehicle should check for possible vehicles to platoon with. The second contribution is to consider traffic during the merging maneuver when forming a platoon. Traffic may disturb and delay when the two HDVs will form a platoon and such delay leads to less fuel saved than initially planned. Based on shockwave and moving bottleneck theories, we derive a merge distance predictor that calculates where the HDVs will merge depending on the traffic condition. We first validate this in a microscopic traffic simulation tool. Then, we also conduct an experimental study during one month on a public highway between Stockholm and Södertälje to evaluate the merging maneuver with different traffic densities. Lastly, we use vehicle probe data obtained from a fleet management system to investigate the potential fuel savings from coordination in a larger road network. The number of vehicles platooning can be increased significantly through coordination compared to today. The main result of this thesis indicates that merging HDVs to form platoons leads to great fuel savings and that there are significant potentials to do so in reality. Traffic needs to be considered in order to guarantee that the HDVs save fuel and deliver the goods in time. Furthermore, the earlier the transport assignment is planned ahead of time, the more opportunities there are to collaborate with other fleet owners to reduce the fuel consumption.
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