Establishing safety for heavy duty vehicle platooning: a game theoretical approach

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Fältnamn	Indikatorer	Metadata
000		03121naa a2200397 4500
001		oai:DiVA.org:kth-89717
003		SwePub
008		120215s2011 \| \|\|\|\|\|\|\|\|\|\|\|000 \|\|eng\|
024	7	a https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-897172 URI
024	7	a https://doi.org/10.3182/20110828-6-IT-1002.020712 DOI
040		a (SwePub)kth
041		a engb eng
042		9 SwePub
072	7	a ref2 swepub-contenttype
072	7	a kon2 swepub-publicationtype
100	1	a Al Alam, Assadu KTH,Reglerteknik4 aut0 (Swepub:kth)u1dtvav1
245	1 0	a Establishing safety for heavy duty vehicle platooning :b a game theoretical approach
264	1	c 2011
338		a print2 rdacarrier
500		a QC 20140902
520		a It is fuel efficient to minimize the relative distance between vehicles to achievea maximum reduction in air drag. However, the relative distance can only be reduced to acertain extent without endangering a collision. Factors such as the vehicle velocity, the relativevelocity, and the characteristics of the vehicle ahead has a strong impact on what minimumrelative distance can be obtained. In this paper, we utilize optimal control and game theory toestablish safety criteria for heavy duty vehicle platooning applications. The derived results showthat a minimum relative distance of 1.2m can be obtained for two identical vehicles withoutendangering a collision, assuming that there is no delay present in the feedback system. If aworst case delay is present in the system, a minimum relative distance is deduced based uponthe vehicle’s maximum deceleration ability. The relative distance can be reduced if the followervehicle has a greater overall braking capability, which suggests that vehicle heterogeneity andorder has substantial impact. The findings are verified by simulations and the main conclusion isthat the relative distance utilized in commercial applications today can be reduced significantlywith a suitable advanced cruise control system.
650	7	a TEKNIK OCH TEKNOLOGIERx Elektroteknik och elektronikx Reglerteknik0 (SwePub)202022 hsv//swe
650	7	a ENGINEERING AND TECHNOLOGYx Electrical Engineering, Electronic Engineering, Information Engineeringx Control Engineering0 (SwePub)202022 hsv//eng
653		a Game theory
653		a Reachability
653		a Optimal Control
653		a Safety analysis
653		a Heavy Duty Vehicle
653		a Platooning
700	1	a Gattami, Atheru Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley CA, 94720-1770, United States4 aut0 (Swepub:kth)u1yz2jxb
700	1	a Johansson, Karl Henriku Electrical Engineering and Computer Sciences, UC Berkeley, Berkeley CA, 94720-1770, United States4 aut0 (Swepub:kth)u1h0d9k2
700	1	a Tomlin, Claire Jenniferu Scania CV AB, Södertälje, Sweden4 aut0 (Swepub:kth)u1ybf6jj
710	2	a KTHb Reglerteknik4 org
773	0	t IFAC Proceedings Volumes (IFAC-PapersOnline)g , s. 3818-3823q <3818-3823
856	4 8	u https://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-89717
856	4 8	u https://doi.org/10.3182/20110828-6-IT-1002.02071

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