Heavy Duty Vehicle Platooning is seen as a possible way to reducefuel consumption, in part obtained by reducing the airdrag. Toapply this concept in reality there is need of a safe and fuelefficient way to automatically control the longitudinal velocity.But as with all applications there are restrictions of what isreally possible. This work focus on a few restrictions in the useof wireless communication, which is used to send information tothe controllers. This study determines a sparse optimal feedback gain matrixwithout loosing performance of the controller during HDVplatooning. It determines with what other vehicles and how thevehicles in the platoon need to communicate. It is a theoreticalstudy which is exploring the Linear Quadratic Sparsity PromotingRegulator (LQRSP) a method proposed by Fardad, Lin andJovanovic(2011b). The main interest was to find a controller thatis sparse structured and generated from a centralized controllerwith the same performance as the original controller. Anotherinterest was also to determine a pattern of dependencies ofinformation sent between vehicles, which should make it possibleto draw conclusions on needed communication links duringplatooning. A linearized vehicle model was derived from the forces acting on adriving vehicle and from the dynamics of the powertrain. Thisvehicle model is then used to derive a model for the whole platoonaccording to the states of interest. The performance of threedifferent controllers was analyzed, one decentralized controller,one Linear Quadratic Tracking Controller and the SparsityPromoting Linear Quadratic Regulator. The comparison between the controller performances shows that thecontroller with sparser structure on the feedback gain matrixkeeps the same performance as the controller used as reference.From the structure change of the feedback gain matrices a fewoverall conclusions can be made. For larger platoons theinformation regarding vehicles in front of the vehicle itself ismost desirable in combination with information about the states ofdistance change from the two following vehicles and velocitychange from the four following vehicles. The states representingthe integrated error between the reference signal and the firstvehicles velocity and the state which represents the distancechange between the first and second vehicle are states that areimportant for all vehicles in the platoon.
Sparsity Promoting Linear Quadratic Regulator for Heavy Duty Vehicle Platooning
2016-01-01
Hochschulschrift
Elektronische Ressource
Englisch
DDC: | 629 |
Validating Heavy-Duty Vehicle Models Using a Platooning Scenario
SAE Technical Papers | 2019
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