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How to Control Road Traffic Using Automated Truck Platoons
Karl H. JohanssonElectrical Engineering and Computer Science
KTH Royal Institute of TechnologySweden
Workshop III: Large Scale Autonomy: Connec9vity and Mobility NetworksIPAM Program: Mathema9cal Challenges and Opportuni9es for Autonomous Vehicles
Nov 16-20, 2020
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AcknowledgmentsAssad Alam, Ericsson Bart Besselink, U GroningenFarhad Farokhi, U MelbourneSebastian van de Hoef, HEREJeff Larson, Argonne NLKuo-Yun Liang, ScaniaEhsan Nekouei, City U HK
Matthieu BarreauMladen CicicDirk van DoorenYulong GaoFrank JiangAlexander JohanssonElis Stefansson
S. Amin (MIT), L. Jin (NYU), A. Ferrara (Pavia) and others
Valerio TurriJonas Mårtensson
Per Sahlholm, ScaniaAnton Selivanov, Sheffield UHåkan Terelius, Google
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The Problem
How to efficiently transport goods over a highway network?
Goal: Maximize automation and fuel-saving cooperationswith limited intervention in vehicle speed, route, and timing
Characteris:cs• 2 000 000 heavy long-haulage trucks in EU
- 400 000 in Germany• Large distributed control system with no real-Fme coordinaFon today• A few large and many small fleet owners with heterogeneous truck fleets
- 97% operate 20 or fewer trucks in US• Tight delivery deadlines and high expectaFons on reliability
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Why focus on fuel and automa1on?
Life cycle cost for European heavy-duty vehicle
Schittler, 2003; Scania, 2012
Fuel
Total fuel cost 80 k€/year/vehicle
Driver
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8
25 M EUR EU project on multi-brand platooning 2018-2021
B. Besselink et al., Cyber-physical control of road freight transport. Proceedings of IEEE, 104:5, 1128-1141, 2016.
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The Physics
Norrby (2014), Liang (2016)
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T2 PHighPLow LeadT3
Truck 1Truck 2Truck 3
Truck 1 Truck 2
Truck 3
Air d
rag
redu
ctio
n [%
]
Relative distance in platoon [m]
Air Drag Reduc-on in Truck Platooning
Wolf-Heinrich & Ahmed (1998), Bonnet & Fritz (2000), Scania CV AB (2011)
5-20% fuel reduction potential
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Vehicle System Architecture
Alam et al., 2014
Data from other vehicles
Pos from vehicle ahead
Own posiRon and velocity
EMS − Engine management systemBMS − Brake management systemGMS − Gear management system
CACC − CollaboraRve adapRve cruise controlACC − AdapRve cruise controlCC − Cruise control
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Platoon System Architecture
Alam et al., 2014
CACC − Collaborative adaptive cruise controlACC − Adaptive cruise controlCC − Cruise control
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Middleton & Braslavsky, 2010
How to Control Inter-vehicular Spacings?
• Limited sensing and inter-vehicle communica:on suggests distributed control strategy
• Important to a=enuate disturbances: string stability• Extensively studied problem in ideal environments
– E.g., Levine & Athans (1966), Peppard (1974), Ioannou & Chien (1993), Swaroop et al. (1994), Stankovic et al. (2000), Seiler et al. (2004), Naus et al. (2010)
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Experimental Setup
Alam, 2014
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Experimental Results
Alam, 2014
Platoon oscilla+ons
ChallengeHow to handle topography varia3ons?Which spacing policy to choose?
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Constant Time Gap Spacing PolicyFor the constant time gap policy it holds that
Control objec=ve:
Besselink & J, 2017
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Simula1ons with Platoon Coordinator and Look-ahead Road Grade Informa1on
Turri et al., 2015
Successful tracking of common platoon velocity reference
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5G Cellular Implementation of Platoon Coordinator
van Dooren et al., 2017
• Platoon coordinator generates common velocity reference:
• Can be computed in the cellular system • New handover scheme for moving control
computations between base stations
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Controller Code Handover Suppor0ng Vehicle Platooning
van Dooren et al., 2017, 2018
Control computations move within cellular networkunder guaranteed control performance
• Proposed new handover schemes for 5G• Support real-time control from edge cloud
5G test network @ KTH launch Dec 5, 2018
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Platoon Formation Merge and split vehicle
platoons on the flyPredictions on whether it is beneficial
for a vehicle to catch up another vehicle
Liang et al., 2016
Optimal speed profiles for platoon formation
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Platoon Forma?on
Liang et al., 2016; Cicic et al., 2017
Optimal speed profiles for platoon formation
FormationController
Traffic and Vehicle
Predictor
Feedback control of merging point based on real-time vehicle state and traffic information
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• Platoon formation of two trucks under various traffic conditions
• 600 test runs on E4 in Nov 2015• Traffic measurements from road
units together with onboard sensors
Platoon Formation Experiments
Liang et al., 2016
0 10 20 30 40 50 60 70 80 90 100 110 1200
500
1 000
1 500
2 000
2 500
Tra�c density [veh/km/lane]
Tra�cflow
[veh
/h/lan
e]
Fundamental diagram of traffic flow
830K measurements
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Traffic dynamics represented by extending the Daganzo (1994) cell transmission model (CTM) to handle moving boVlenecks
Platoon Formation Optimization
Cicic and J, 2019
Catch-up phase Platooning phase Split
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v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
Discretize Lighthill-Whitham-Richards PDE with truck platoon:
Mladen Cicic – [email protected]
Cell Transmission Model
ri(t+1)=ri(t)+TL�qi�1(t)�qi(t)
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qi(t)=min�Di(t),Si+1(t)
�
Di(t)=min�Vri(t),Qmax
i�
Si(t)=min�Wi(Pi �ri(t)),Qmax
i�
• ri(t) – traffic density in cell i
• qi(t) – traffic flow from cell i to cell i+1• Di(t) – demand of cell i
• Si(t) – supply of cell i
• V – free flow speed
• Corresponds to discretization of the LWR model withNewell-Daganzo (triangular) flux function Q(r),
∂tr(x,t)+∂xQ(r(x,t)) = 0
Q(r) =
(Vr, r sW(P�r), r > s
[Daganzo 1994] , [Lighthill, Whitham 1955], [Lebacque 1995]
| KTH | 6 of 14
36
• Higher fuel consumpFon during the catch-up phase• Lower fuel consumpFon during the platooning phase• Merge point depends on velociFes during the catch-up phase• Final split point is fixed to give desired average velocity
Platoon Forma/on Op/miza/on
Cicic and J, 2019
Catch-up phase Platooning phasev1, v2, vp 2 [vmin, vmax]
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v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
Merge pointFinal split point
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sha1_base64="22+W6nxZhr7NvFxRvnICS2Iemdc=">AAACC3icdVDLSgMxFM3UVx1fVZdugq1QN2UyC9suhKIblxUcW+iUIZNm2tDMgyQjlKEf4MZfceNCxa0/4M6/MdMHqOiBwLnn3MvNPX7CmVSW9WkUVlbX1jeKm+bW9s7uXmn/4FbGqSDUITGPRdfHknIWUUcxxWk3ERSHPqcdf3yZ+507KiSLoxs1SWg/xMOIBYxgpSWvVK5UTJeMmIeqrsKpF56ez0p7WZqViu6yapZlIYRgTlD9zNKk2WzYqAFRbmmUwQJtr/ThDmKShjRShGMpe8hKVD/DQjHC6dR0U0kTTMZ4SHuaRjiksp/NjpnCE60MYBAL/SIFZ+r3iQyHUk5CX3eGWI3kby8X//J6qQoa/YxFSapoROaLgpRDFcM8GThgghLFJ5pgIpj+KyQjLDBROj9Th7C8FP5PHLvWrKFru9y6WKRRBEfgGFQBAnXQAlegDRxAwD14BM/gxXgwnoxX423eWjAWM4fgB4z3LyNkmLk=</latexit> �1(⌧f ) = �2(⌧f ) = �f
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Merge point Final split point
37
11/21/20
12
• Slowing down lead vehicle causes heavier traffic for follower vehicle• Fuel consumption reduced for proposed controller despite later merging
Numerical Example
Cicic and J, 2019
Catch-up phase Platooning phase Splitv1, v2, vp 2 [vmin, vmax]
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v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
Traffi
cde
nsity
Merge point without traffic
Merge point with traffic
Fuel-opCmal merge point
38
• Optimized platoon formation leads to 2-3% additional energy savings
• Considering the influence of trafficimproves energy savings
Energy Savings
Catch-up phase Platooning phase Splitv1, v2, vp 2 [vmin, vmax]
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v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
v1, v2, vp 2 [vmin, vmax]<latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit><latexit sha1_base64="rxv4MLu+911wW3L2OFVRVxuoK+0=">AAACFnicbZC7TsMwFIYdriXcCowsFi0SQ1UlXYCtgoWxSIRWaqLIcZ3Wqu1EtlNRRXkLFl6FhQEQK2LjbXAvA7T80pE+/ecc2eePUkaVdpxva2V1bX1js7Rlb+/s7u2XDw7vVZJJTDycsER2IqQIo4J4mmpGOqkkiEeMtKPh9aTfHhGpaCLu9DglAUd9QWOKkTZWWK5Xq7avOGIMjkK3NgobplKfiu4ozH1ORVGbAnooArtaDcsVp+5MBZfBnUMFzNUKy19+L8EZJ0JjhpTquk6qgxxJTTEjhe1niqQID1GfdA0KxIkK8uldBTw1Tg/GiTQlNJy6vzdyxJUa88hMcqQHarE3Mf/rdTMdXwQ5FWmmicCzh+KMQZ3ASUiwRyXBmo0NICyp+SvEAyQR1iZK24TgLp68DF6jfll3bxuV5tU8jRI4BifgDLjgHDTBDWgBD2DwCJ7BK3iznqwX6936mI2uWPOdI/BH1ucP6UeeHw==</latexit>
Relative energy savings with optimal control
Traffic congestion
Cicic and J, 2019
Optimal control, ignoring traffic
RecalculaCng opCmal control periodically, ignoring traffic condiCons
Recalculating optimal control periodically, incorporating traffic conditions
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11/21/20
13
Can truck platooning be used to improve traffic conditions?
Lin et al., 2018; Cicic and J, 2018
• Model truck platoons asboVlenecks moving in car traffic, cf., Lebacque et al. 1998; DelleMonache & GoaFn 2014
• Restrict the traffic flow into the congested areas using controlled truck platoons
DiscreFze the Lighthill-Whitham-Richards PDE model and include truck platoons:
41
Upstream-propagating wave of slowed or stationaryvehicles without an apparent bottleneck
Euler approach• Control of vehicle flows, e.g., variable speed limits
Lagrange approach• Control of individual vehicles or platoons,
e.g., connected automated vehicles
Stop-and-go wave dissipa/on
42
[Hegyi et al., 2008]
[Stern et al., 2018, Kreidieh et al., 2018, Čičić & J, 2018]
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Control truck platoon velocity to dissipate conges:onbased on traffic densi:es
Cicic and J, 2018
Traffic density with truck controlTraffic density without truck control
Truck platoon trajectory
43
Truck platoon control reduces traffic conges0on
Cicic, Jin and J, 2019
Mladen Cicic – [email protected]
Simulation results with an on- and off-ramp
Without control
+38.3% TTSWith control
+8.4% TTS
[Cicic, Jin, Johansson 2019]
| KTH | 13 of 14
Mladen Cicic – [email protected]
Simulation results with an on- and off-ramp
Without control
+38.3% TTSWith control
+8.4% TTS
[Cicic, Jin, Johansson 2019]
| KTH | 13 of 14
38% total travel Rme increasedue to traffic congesRon
Without truck platoon control With truck platoon control
8% total travel Rme increasedue to traffic congesRon
44
11/21/20
15
Truck platoon control reduces traffic conges0on
Cicic, Jin and J, 2019
Mladen Cicic – [email protected]
Simulation results with an on- and off-ramp
Without control
+38.3% TTSWith control
+8.4% TTS
[Cicic, Jin, Johansson 2019]
| KTH | 13 of 14
Mladen Cicic – [email protected]
Simulation results with an on- and off-ramp
Without control
+38.3% TTSWith control
+8.4% TTS
[Cicic, Jin, Johansson 2019]
| KTH | 13 of 14
38% total travel Rme increasedue to traffic congesRon
Without truck platoon control With truck platoon control
8% total travel Rme increasedue to traffic congesRon
45
Stop-and-go wave dissipation based on state reconstruction
46
No control Perfect information control
• What if perfect traffic state informaDon is not available?• Use reconstructed traffic state based on adapDvely selected vehicle measurements
[Čičić et al., 2020]
46
11/21/20
16
Stop-and-go wave dissipation based on state reconstruction
12
Traffic state reconstrucQonReconstruction-based control
[Čičić et al., 2020]
No control Perfect informaAon control1. Probe vehicles detect congesCon
47
Stop-and-go wave dissipation based on state reconstruction
12
Traffic state reconstrucQonReconstruction-based control
No control Perfect information control1. Probe vehicles detect congesCon
2. More probe vehicles are acCvated to beUer reconstruct the congesCon
[Čičić et al., 2020]
48
11/21/20
17
Stop-and-go wave dissipa4on based on state reconstruc4on
12
Traffic state reconstrucQonReconstruction-based control
No control Perfect informaAon control1. Probe vehicles detect congestion
2. More probe vehicles are activated to better reconstruct the congestion
3. Actuator vehicles dissipate the stop-and-go wave
[Čičić et al., 2020]
49
Stop-and-go wave dissipa4on based on state reconstruc4on
12
No control Perfect information control
Traffic state reconstrucQonReconstrucQon-based control
1. Probe vehicles detect congestion2. More probe vehicles are activated to better reconstruct the congestion
3. Actuator vehicles dissipate the stop-and-go wave4. Next actuator vehicle dissipates the congestion caused by the first one
[Čičić et al., 2020]
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Conclusions• Automated road freight transport
– Integrated platoon coordinator and cruise-controller– Platoon control over V2V and V2I cellular communication– Automated vehicle match-making and platoon formation
• Leads to significantly lower fuel and operation costs• Control automated platoons to
reduce traffic congestion• Platoons acting as probe vehicles (sensors) and
moving bottlenecks (actuators)
people.kth.se/~kallej
platoon coordinator
fleet layer roaddatabase
↵, vmax, vminv
vehicle controller 1
a⇤1(t) x1(t)
vs(·) x1(t)
vehicle controller 2
a⇤2(t) x2(t), d2(t)
vs(·) x2(t)
x1(·|t)
d2(t)
ENSEMBLE mulC-brand platooning H2020 project 2018-2021
Matthieu Barreau poster resentations at 11:50 (PT) on Learning-based Traffic State Reconstruction
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