TY  - JOUR
PY  - 2018//
TI  - Truck platooning on uphill grades under cooperative adaptive cruise control (CACC)
JO  - Transportation research part C: emerging technologies
A1  - Chen, Danjue
A1  - Ahn, Soyoung
A1  - Chitturi, Madhav
A1  - Noyce, David
SP  - 50
EP  - 66
VL  - 94
IS  - 
N2  - 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 <p />  <p>Language: en</p>
LA  - en
SN  - 0968-090X
UR  - http://dx.doi.org/10.1016/j.trc.2017.08.025
ID  - ref1
ER  -