Fuel-efficient control of merging maneuvers for heavy-duty vehicle platooning

J. P. J. Koller, A. Grossmann Colín, B. Besselink, K. H. Johansson


8 Citaten (Scopus)


The formation of groups of closely-spaced heavy-duty vehicles, known as platoons, reduces the overall aerodynamic drag and therefore leads to reduced fuel consumption and reduced greenhouse gas emissions. This paper focuses on the optimal control of merging maneuvers for the formation of a growing platoon. Hereto, the merging problem is formulated as a hybrid optimal control problem and an algorithm for the computation of optimal merging times and corresponding optimal vehicle trajectories is developed by exploiting an extension of Pontryagin's maximum principle. Moreover, a model predictive control approach on the basis of this algorithm is presented that makes the merging maneuvers robust to modelling uncertainties and external disturbances. The results are illustrated by evaluating a scenario involving three vehicles, which indicates fuel savings of up to 13% with respect to the vehicles driving alone.
Originele taal-2English
Aantal pagina's6
StatusPublished - 2015
Extern gepubliceerdJa
Evenement2015 IEEE 18th International Conference on Intelligent Transportation Systems - Gran Canaria, Spain
Duur: 15-sep.-201518-sep.-2015


Conference2015 IEEE 18th International Conference on Intelligent Transportation Systems
StadGran Canaria

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