Citation

Chen D, Ahn S, Chitturi M, Noyce D. Transp. Res. C Emerg. Technol. 2018; 94: 50-66.

Copyright

(Copyright © 2018, Elsevier Publishing)

DOI

10.1016/j.trc.2017.08.025

PMID

unavailable

Abstract

This paper examines CACC truck platooning on uphill grades. It was found that the design of CT policy should consider the effects of low crawl speeds on significant upgrades. Three simple solutions, which have different impacts on traffic flow efficiency, are proposed. Furthermore, truck platoons, controlled by a state-of-the-art CACC model, become asymptotically unstable beyond some critical grade. The errors are permanent, suggesting that trucks fail to re-engage after the upgrade. This occurs by complex interactions between the CACC control and the bounded acceleration capabilities of trucks. New control concepts are developed to complement the existing control model and achieve asymptotic (and string) stability. The instability mechanisms and new control concepts are not specific to the control model used.

Keywords: Road transportation; Large trucks

Language: en

Keywords

Connected automated vehicles; Cooperative adaptive cruise control (CACC); Stability; Truck platooning; Uphill grade