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Flexible and Energy-Saving Platooning Control Using a Two-Layer Controller

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Abstract

This paper proposes a method for controlling the behavior of vehicles with respect to platooning techniques such as forming and splitting a platoon and switching lateral control between vehicle-following mode and road-following mode. The proposed control architecture comprises two layers: a status-control layer and a motion-control layer. This two-layer control architecture improves the behavior of individual vehicles and the platoon as a whole without increasing the complexity of the system. Moreover, the proposed control method allows for the formation of a platoon in accordance with a rule designed to promote energy-saving maneuvering at the time of the platoon’s formation. The proposed control method is validated by conducting experiments using small electric vehicles.

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Acknowledgement

This study is a part of initiatives under a research project commissioned by NEDO for its Energy-saving ITS Technologies project. We express our appreciation to the concerned organizations and persons for their generous assistance.

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Authors and Affiliations

  1. Graduate School of Media and Governance, Keio University, 5322 Endo, Fujisawa-shi, Kanagawa, 252-8520, Japan

    Manabu Omae

  2. Faculty of Environment and Information Studies, Keio University, 5322 Endo, Fujisawa-shi, Kanagawa, 252-8520, Japan

    Noritsugu Honma & Keisuke Usami

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  1. Manabu Omae
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  2. Noritsugu Honma
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  3. Keisuke Usami
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Correspondence to Manabu Omae.

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Omae, M., Honma, N. & Usami, K. Flexible and Energy-Saving Platooning Control Using a Two-Layer Controller. Int. J. ITS Res. 10, 115–126 (2012). https://doi.org/10.1007/s13177-012-0047-3

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  • DOI: https://doi.org/10.1007/s13177-012-0047-3

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