Truck platoon control considering heterogeneous vehicles
- Authors
- Kim, Jonghoek; J.
- Issue Date
- 2020
- Publisher
- MDPI AG
- Keywords
- Autonomous trucks; Curved lane tracking; Lateral maneuvers; Longitudinal maneuvers; Multi-agent systems; Platoon of heterogeneous trucks; Truck platoon
- Citation
- Applied Sciences (Switzerland), v.10, no.15
- Journal Title
- Applied Sciences (Switzerland)
- Volume
- 10
- Number
- 15
- URI
- https://scholarworks.bwise.kr/hongik/handle/2020.sw.hongik/12518
- DOI
- 10.3390/app10155067
- ISSN
- 2076-3417
- 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. A platoon is defined as a collection of trucks where a manually driven truck (leader truck) is followed by several automatically controlled following trucks. This paper is novel in presenting the longitudinal control of a truck platoon, as the trucks move along a curved lane as well as a straight lane. For a lateral maneuver, this paper proposes making every autonomous truck keep following the leader's waypoints while maintaining a designated distance from its predecessor truck. This paper develops both a lateral maneuver and speed control considering a platoon of heterogeneous trucks. The efficiency of the proposed approach is verified using simulations. © 2020 by the author.
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Collections - College of Science and Technology > Department of Electronic and Electrical Engineering > 1. Journal Articles
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