subject:(optimal platoon formation)

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Linköping University

1. Dennis, Edblom. Optimal Formation of Heavy Duty Vehicle Platoons.

Degree: Vehicular Systems, 2020, Linköping University

URL: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166748

Platooning has the potential to significantly reduce fuel consumption, but with heavy duty vehicles scattered on roads driving alone, there is a need for coordination. One solution is for a vehicle to increase its speed to catch up and platoon with a preceding vehicle. This could reduce the fuel consumption of a mission, but it could also increase it if too much fuel is spent catching up. By finding the fuel consumption of catching up and platooning and comparing it to driving alone the decision of whether or not to catch up can be made. This thesis proposes a fuel-optimal algorithm based on a look-ahead controller taking future road topography into account to find the optimal trajectory and merge point when catching up to a preceding vehicle. By weighting time against fuel in the objective function, the addition of a state to keep track of time can be avoided and thus the algorithm can remain low in complexity, making it suitable for dynamic programming (DP). The DP algorithm is iterated in a forward fashion keeping track of the time-to-come for each state until it catches up to the preceding vehicle, then the platooning is simulated with a constant time gap, making it easy and fast to simulate. The algorithm is tested on real-world road topography data where it showed that taking road topography into account when choosing the merge point can have a significant fuel reduction.

Subjects/Keywords: optimal; platoon; platooning; formation; heavy-duty vehicle; Electrical Engineering, Electronic Engineering, Information Engineering; Elektroteknik och elektronik

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APA (6^th Edition):

Dennis, E. (2020). Optimal Formation of Heavy Duty Vehicle Platoons. (Thesis). Linköping University. Retrieved from http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166748

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Dennis, Edblom. “Optimal Formation of Heavy Duty Vehicle Platoons.” 2020. Thesis, Linköping University. Accessed April 15, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166748.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Dennis, Edblom. “Optimal Formation of Heavy Duty Vehicle Platoons.” 2020. Web. 15 Apr 2021.

Vancouver:

Dennis E. Optimal Formation of Heavy Duty Vehicle Platoons. [Internet] [Thesis]. Linköping University; 2020. [cited 2021 Apr 15]. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166748.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Dennis E. Optimal Formation of Heavy Duty Vehicle Platoons. [Thesis]. Linköping University; 2020. Available from: http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-166748

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

University of Michigan

2. Sun, Xiaotong. Facilitating Cooperative Truck Platooning for Energy Savings: Path Planning, Platoon Formation and Benefit Redistribution.

Degree: PhD, Civil Engineering, 2020, University of Michigan

URL: http://hdl.handle.net/2027.42/163047

Enabled by the connected and automated vehicle (CAV) technology, cooperative truck platooning that offers promising energy savings is likely to be implemented soon. However, as the trucking industry operates in a highly granular manner so that the trucks usually vary in their operation schedules, vehicle types and configurations, it is inevitable that 1) the spontaneous platooning over a spatial network is rare, 2) the total fuel savings vary from platoon to platoon, and 3) the benefit achieved within a platoon differs from position to position, e.g., the lead vehicle always achieves the least fuel-saving. Consequently, trucks from different owners may not have the opportunities to platoon with others if no path coordination is performed. Even if they happen to do so, they may tend to change positions in the formed platoons to achieve greater benefits, yielding behaviorally unstable platoons with less energy savings and more disruptions to traffic flows. This thesis proposes a hierarchical modeling framework to explicate the necessitated strategies that facilitate cooperative truck platooning. An empirical study is first conducted to scrutinize the energy-saving potentials of the U.S. national freight network. By comparing the performance under scheduled platooning and ad-hoc platooning, the author shows that the platooning opportunities can be greatly improved by careful path planning, thereby yielding substantial energy savings. For trucks assembled on the same path and can to platoon together, the second part of the thesis investigates the optimal platoon formation that maximizes total platooning utility and benefits redistribution mechanisms that address the behavioral instability issue. Both centralized and decentralized approaches are proposed. In particular, the decentralized approach employs a dynamic process where individual trucks or formed platoons are assumed to act as rational agents. The agents decide whether to form a larger, better platoon considering their own utilities under the pre-defined benefit reallocation mechanisms. Depending on whether the trucks are single-brand or multi-brand, whether there is a complete information setting or incomplete information setting, three mechanisms, auction, bilateral trade model, and one-sided matching are proposed. The centralized approach yields a near-optimal solution for the whole system and is more computationally efficient than conventional algorithms. The decentralized approach is stable, more flexible, and computational efficient while maintaining acceptable degrees of optimality. The mechanisms proposed can apply to not only under the truck platooning scenario but also other forms of shared mobility. Advisors/Committee Members: Yin, Yafeng (committee member), Shen, Siqian May (committee member), Liu, Henry (committee member), Masoud, Neda (committee member).

Subjects/Keywords: cooperative truck platooning; energy-saving potentials; benefit reallocation mechanisms; optimal platoon formation; shared mobility; Civil and Environmental Engineering; Engineering

Record Details Similar Records Cite « Share

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sun, X. (2020). Facilitating Cooperative Truck Platooning for Energy Savings: Path Planning, Platoon Formation and Benefit Redistribution. (Doctoral Dissertation). University of Michigan. Retrieved from http://hdl.handle.net/2027.42/163047

Chicago Manual of Style (16^th Edition):

Sun, Xiaotong. “Facilitating Cooperative Truck Platooning for Energy Savings: Path Planning, Platoon Formation and Benefit Redistribution.” 2020. Doctoral Dissertation, University of Michigan. Accessed April 15, 2021. http://hdl.handle.net/2027.42/163047.

MLA Handbook (7^th Edition):

Sun, Xiaotong. “Facilitating Cooperative Truck Platooning for Energy Savings: Path Planning, Platoon Formation and Benefit Redistribution.” 2020. Web. 15 Apr 2021.

Vancouver:

Sun X. Facilitating Cooperative Truck Platooning for Energy Savings: Path Planning, Platoon Formation and Benefit Redistribution. [Internet] [Doctoral dissertation]. University of Michigan; 2020. [cited 2021 Apr 15]. Available from: http://hdl.handle.net/2027.42/163047.

Council of Science Editors:

Sun X. Facilitating Cooperative Truck Platooning for Energy Savings: Path Planning, Platoon Formation and Benefit Redistribution. [Doctoral Dissertation]. University of Michigan; 2020. Available from: http://hdl.handle.net/2027.42/163047

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