Research On Control Of Truck Platooning On Expressways

In recent years,the proportion of energy consumption in the transport of expressway trucks to China's total consumption increased year by year.However,the transport of expressway trucks is also responsible for a large part of the world's energy consumption and greenhouse gas emission.As a result,there is a large research effort aimed at the reduction of fuel consumption for the transport of expressway trucks.This paper takes the truck model as the controlled model,which is existed in the high precision truck simulation software Truck Sim's database.The nonlinear model predictive control method is adopted for designing the truck platoon controller.Do the research on the fuel economy and safety of the truck platoon on expressways.The current research status and related issues in the truck platoon on expressways are studied first.And by analyzing of the advantages and disadvantages of the control scheme in recent years,the control plan is proposed.Considering the actual situation of the the truck platoon driving on expressways,the three dimensional map about engine torque,engine turn speed and fuel consumption rate is plotted based on the engine torque characteristics map and fuel characteristics map.The engine fuel consumption numerical model is built the plotted three dimensional map.Considering the dynamic characteristics of the truck with high speed,the dynamic model of truck is built.And the aerodynamic model that depends on the distance between the trucks in the platoon is built with the consideration of the actual situation.Afterwards,the trucks platoon driving on expressways problem is proposed.In order to solve the proposed truck platoon driving problem,the control architecture of the truck platoon control problem is decomposed into two layers,being the platoon coordinator layer and the the vehicle trajectory tracking layer.The coordinator layer is responsible for finding a fuel-optimal speed profile for the entire platoon.The trajectory tracking layer is responsible for tracking the desired speed profile as resulting from the coordinator layer and ensuring the safety and effectiveness of the distance between the trucks in the platoon.What's more,the PID method is adopted to the the truck platoon control problem for reducing the speed tracking error.Taking the actual situation of truck platoon cargo transport into account,the truck platoon control system is redesigned for condition that trucks in the platoon have different load capacity.Afterwards,the dynamic response of trucks in the platoon is verified.Finally,we carry out the simulation to verify the different conditions that trucks in the platoon have same or different load capacity.Further more,we verify the effect of the fuel economy for the different load capacity about different trucks driving position in the platoon.Simulation results show a satisfactory control effect.