Preprint Article Version 1 This version is not peer-reviewed

Truck Platoon Control Considering Heterogeneous Vehicles

Version 1 : Received: 5 June 2020 / Approved: 7 June 2020 / Online: 7 June 2020 (08:13:32 CEST)

How to cite: Kim, J. Truck Platoon Control Considering Heterogeneous Vehicles. Preprints 2020, 2020060066 (doi: 10.20944/preprints202006.0066.v1). Kim, J. Truck Platoon Control Considering Heterogeneous Vehicles. Preprints 2020, 2020060066 (doi: 10.20944/preprints202006.0066.v1).

Abstract

This paper presents control algorithms enabling autonomous heterogeneous trucks to drive in platoons. Heterogeneous trucks imply that the hardware information (e.g., truck length, break, accelerator, or engine) of a truck may be distinct from that of another truck. We define a platoon as a collection of trucks where a manually driven truck (leader truck) is followed by several automatically controlled following trucks. The proposed approach is to make every autonomous truck keep following the leader's trajectory while maintaining a designated distance from its predecessor truck. As far as we know, this paper is unique in developing both lateral maneuver and speed control considering a platoon of heterogeneous trucks. The efficiency of the proposed approach is verified using simulations.

Subject Areas

platoon of heterogeneous trucks; lateral maneuvers; longitudinal maneuvers; truck platoon; multi-agent systems; autonomous trucks

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