Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed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)

A peer-reviewed article of this Preprint also exists.

Kim, J. Truck Platoon Control Considering Heterogeneous Vehicles. Appl. Sci. 2020, 10, 5067. Kim, J. Truck Platoon Control Considering Heterogeneous Vehicles. Appl. Sci. 2020, 10, 5067.


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.


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


Engineering, Control and Systems Engineering

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