Control of Heavy Road Vehicle Platoons Incorporating Actuation Dynamics

Devika, K. B.; Sridhar, N; Yellapantula, Venkata Ramani Shreya; Subramanian, Shankar C.

doi:10.1109/tencon.2019.8929251

Cited by 5 publications

(4 citation statements)

References 16 publications

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“…Actuation system delay in HCRVs platoon can lead to string instability during platoon operation [11]. Hence, the response characteristics of HCRV's actuation system (described by (14)) is improved by using a lower level controller.…”

Section: Lower Level Controllermentioning

confidence: 99%

“…Assuming the initial disturbances/perturbations to be bounded, if the spacing errors of all the vehicles are bounded uniformly in time, then the platoon is considered to be "string stable" [5], [6]. This is usually achieved by keeping the inter-vehicular spacing at a constant value, leading to a constant spacing policy [8], [9] or by allowing it to vary, but in a bounded manner, known as constant time-headway (CTH) policy [5], [10], [11]. For the autonomous operation of a vehicle platoon, a controller that could establish string stability is extremely important.…”

Section: Introductionmentioning

confidence: 99%

“…Particularly in HCRV platoons, these factors are highly significant because of aspects such as pneumatic actuation delay, mass variation during laden and unladen operating conditions, and dynamic load transfer during braking. In a previous study [11], the importance of incorporating actuation dynamics and delays for the string stable controller design was analysed. It was observed that the pneumatic actuation delay in HCRVs is enough to deteriorate the performance of the string stable controller.…”

Section: Introductionmentioning

confidence: 99%

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A Dynamics-Based Adaptive String Stable Controller for Connected Heavy Road Vehicle Platoon Safety

et al. 2020

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This paper presents a string stable controller for the autonomous operation of a platoon of Heavy Commercial Road Vehicles (HCRVs) in a connected environment. This study considers factors such as brake/powertrain actuator dynamics, resistive forces, tyre model and wheel dynamics, which are crucial during on-road operation of HCRVs. A nonlinear vehicle dynamic model encompassing all these factors has been considered. The dependency between aerodynamic drag and inter-vehicular distance in the platoon has also been taken into account. The aforementioned factors motivated the use of Sliding Mode Control (SMC), which is a nonlinear and robust control technique. A lower level Proportional Integral Derivative (PID) controller has been successfully integrated with SMC to compensate for pneumatic brake and powertrain system delay. The designed controller was evaluated for string stable platoon operation by considering various road conditions, load conditions and operating speeds. It was observed that the string stable controller performance is highly dependent on the operating conditions. To ensure string stable operation for different operating scenarios, an adaptive time-headway based enhancement has also been integrated in the controller design. The efficacy of the proposed adaptive time-headway policy over the existing constant time-headway policy has been methodically analysed and a performance comparison between them has also been presented. The aspect of communication delay during connected vehicular operation has also been studied and the maximum tolerable communication delay magnitude for maintaining string stable operation has also been presented.

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Section: Lower Level Controllermentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Dynamics-Based Adaptive String Stable Controller for Connected Heavy Road Vehicle Platoon Safety

et al. 2020

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“…String stable controller design for heavy vehicle platoons using a variable time headway approach has been presented in Yanakiev and Kanellakopoulos (1995). The effects of pneumatic actuation delay on string stability of heavy vehicle platoons have been investigated in Devika et al (2019). A fuel-efficient heavy vehicle platoon control scheme using disturbance observer has been reported in Na et al (2020).…”

Section: Introductionmentioning

confidence: 99%

String stable control of electric heavy vehicle platoon with varying battery pack locations

Devika

Rohith

Subramanian

2021

Journal of Vibration and Control

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Integration of heavy commercial road vehicle platooning concept and electric vehicle technology is a promising approach as far as sustainable freight transportation is considered. This article attempts to design a string stable controller for an electric heavy commercial road vehicle platoon by incorporating critical factors such as complete vehicle dynamics model, pneumatic brake system model and cooperative braking between friction and regenerative braking systems. The sliding mode control technique has been used for string stable platoon operation. The impact of various battery pack locations on string stability has also been analysed. The performance of the controller has been investigated by considering electric heavy commercial road vehicle platoon operation on different road slope (straight, uphill and downhill) conditions, dry and wet road conditions and vehicle load conditions. It has been observed that the battery pack location has a significant influence on string stability with respect to the platoon operating conditions. During operation on straight and level roads, string stability was achieved irrespective of the location of the battery pack. However, during downhill and uphill driving conditions, it was found that placing the battery pack near front and rear axle locations, respectively, helped in ensuring string stable platoon operation.

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Fuel Economy and String Stability: A Dynamics Based Study on Heavy Road Vehicle Platoons

Devika

Subramanian

2021

2021 International Conference on COMmunication Systems &Amp; NETworkS (COMSNETS)

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Control of Heavy Road Vehicle Platoons Incorporating Actuation Dynamics

Cited by 5 publications

References 16 publications

A Dynamics-Based Adaptive String Stable Controller for Connected Heavy Road Vehicle Platoon Safety

A Dynamics-Based Adaptive String Stable Controller for Connected Heavy Road Vehicle Platoon Safety

String stable control of electric heavy vehicle platoon with varying battery pack locations

Fuel Economy and String Stability: A Dynamics Based Study on Heavy Road Vehicle Platoons

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