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A hierarchical approach for splitting truck platoons near network discontinuities

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  • Duret, Aurelien
  • Wang, Meng
  • Ladino, Andres

Abstract

Truck platooning has attracted substantial attention due to its pronounced benefits in saving energy and promising business model in freight transportation. However, one prominent challenge for the successful implementation of truck platooning is the safe and efficient interaction with surrounding traffic, especially at network discontinuities where mandatory lane changes may lead to the decoupling of truck platoons. This contribution puts forward an efficient method for splitting a platoon of vehicles near network merges. A model-based bi-level control strategy is proposed. A supervisory tactical strategy based on a first-order car-following model with bounded acceleration is designed to maximize the flow at merge discontinuities. The decisions taken at this level include optimal vehicle order after the merge, new equilibrium gaps of automated trucks at the merging point, and anticipation horizon that the platoon members start to track the new equilibrium gaps. The lower-level operational layer uses a third-order longitudinal dynamics model to compute the optimal truck accelerations so that new equilibrium gaps are created when merging vehicles start to change lane and the transient maneuvers are efficient, safe and comfortable. The tactical decisions are derived from an analytic car-following model and the operational accelerations are controlled via model predictive control with guaranteed stability. Simulation experiments are provided in order to test the feasibility and demonstrate the performance and robustness of the proposed strategy.

Suggested Citation

  • Duret, Aurelien & Wang, Meng & Ladino, Andres, 2020. "A hierarchical approach for splitting truck platoons near network discontinuities," Transportation Research Part B: Methodological, Elsevier, vol. 132(C), pages 285-302.
    • Handle: RePEc:eee:transb:v:132:y:2020:i:c:p:285-302
    DOI: 10.1016/j.trb.2019.04.006
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    References listed on IDEAS

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    1. Bhoopalam, Anirudh Kishore & Agatz, Niels & Zuidwijk, Rob, 2018. "Planning of truck platoons: A literature review and directions for future research," Transportation Research Part B: Methodological, Elsevier, vol. 107(C), pages 212-228.
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    1. Bouchery, Yann & Hezarkhani, Behzad & Stauffer, Gautier, 2022. "Coalition formation and cost sharing for truck platooning," Transportation Research Part B: Methodological, Elsevier, vol. 165(C), pages 15-34.
    2. Abdolmaleki, Mojtaba & Shahabi, Mehrdad & Yin, Yafeng & Masoud, Neda, 2021. "Itinerary planning for cooperative truck platooning," Transportation Research Part B: Methodological, Elsevier, vol. 153(C), pages 91-110.
    3. Chen, Shukai & Wang, Hua & Meng, Qiang, 2021. "Autonomous truck scheduling for container transshipment between two seaport terminals considering platooning and speed optimization," Transportation Research Part B: Methodological, Elsevier, vol. 154(C), pages 289-315.
    4. Zhang, Hanyu & Du, Lili, 2023. "Platoon-centered control for eco-driving at signalized intersection built upon hybrid MPC system, online learning and distributed optimization part I: Modeling and solution algorithm design," Transportation Research Part B: Methodological, Elsevier, vol. 172(C), pages 174-198.

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