Establishing Safety for Heavy Duty Vehicle Platooning: A Game Theoretical Approach

Abstract

AbstractIt is fuel efficient to minimize the relative distance between vehicles to achieve a maximum reduction in air drag. However, the relative distance can only be reduced to a certain extent without endangering a collision. Factors such as the vehicle velocity, the relative velocity, and the characteristics of the vehicle ahead has a strong impact on what minimum relative distance can be obtained. In this paper, we utilize optimal control and game theory to establish safety criteria for heavy duty vehicle platooning applications. The derived results show that a minimum relative distance of 1.2 m can be obtained for two identical vehicles without endangering a collision, assuming that there is no delay present in the feedback system. If a worst case delay is present in the system, a minimum relative distance is deduced based upon the vehicle's maximum deceleration ability. The relative distance can be reduced if the follower vehicle has a greater overall braking capability, which suggests that vehicle heterogeneity and order has substantial impact. The findings are verified by simulations and the main conclusion is that the relative distance utilized in commercial applications today can be reduced significantly with a suitable advanced cruise control system.