Stochastic Optimisation for the Design of Energy-Efficient Controllers for Cooperative Truck Platoons

Abstract

Cooperative adaptive cruise control systems have the potential to improve fuel efficiency and safety. However, due to the large amount of uncertainties, which are encountered in platooning applications, typical controller calibrations are often not reliable. Therefore, in order to ensure a satisfying performance in the presence of various information topologies and relevant uncertainties such as errors in data transmission or extreme manoeuvres of the lead vehicle, a risk-averse stochastic optimisation approach for controller calibration is suggested and demonstrated for a pre-existing control scheme. Realistic vehicle dynamics simulation experiments with a prescribed set of uncertainties, such as transmission delays and different vehicle parameters, are performed. The results show that the collision probability and energy consumption are reduced by the risk-averse calibration of the controller and its spacing policy compared with classical calibration which assumes perfect communication.