Date of Award
12-2021
Document Type
Thesis
Degree Name
Master of Science (MS)
Department
Civil Engineering
Committee Chair/Advisor
Dr. Mashrur Chowdhury
Committee Member
Dr. Sakib Mahmud Khan
Committee Member
Dr. John Wagner
Abstract
In this study, the author theoretically develops and numerically validates an asymmetric linear bilateral control model (LBCM) for an automated truck platoon, in which the motion information (i.e., position and speed) from the immediate leading truck and the immediate following truck are weighted differently. The novelty of the asymmetric LBCM is that using this model, all the follower trucks in a platoon can adjust their acceleration and deceleration to closely follow a constant desired time headway at all times to improve platoon operational efficiency while maintaining local and string stability. The author theoretically proves the local stability of the asymmetric LBCM using the condition for asymptotic stability of a linear time-invariant system and derives the condition for string stability using a space headway error attenuation approach. Then, the author evaluates the efficacy of the asymmetric LBCM by simulating a closely coupled cooperative adaptive cruise control (CACC) platoon of fully automated trucks in various non-linear acceleration and deceleration states. To evaluate the platoon operational efficiency of the asymmetric LBCM, the author compares the performance of the asymmetric LBCM to a baseline model, i.e., the symmetric LBCM, for three different time headway settings, i.e., 0.6 sec, 0.8 sec, and 1.1 sec. Analyses indicate that the asymmetric LBCM yields lower sum of squared time headway error and sum of squared speed error compared to the baseline model considered in this study. These findings demonstrate the potential of the asymmetric LBCM in improving platoon operational efficiency and stability of an automated truck platoon.
Recommended Citation
Salek, M Sabbir, "Theoretical Development and Numerical Validation of an Asymmetric Linear Bilateral Control Model For an Automated Truck Platoon" (2021). All Theses. 3708.
https://open.clemson.edu/all_theses/3708
Author ORCID Identifier
https://orcid.org/ 0000-0001-7326-3694