Safe and Operationally Efficient Longitudinal Control of Autonomous Truck Platoons
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arXiv
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| Format: | Preprint |
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2025
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| _version_ | 1866912712136589312 |
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| author | Hammerl, Alexander Seshadri, Ravi Rasmussen, Thomas Kjær Nielsen, Otto Anker |
| author_facet | Hammerl, Alexander Seshadri, Ravi Rasmussen, Thomas Kjær Nielsen, Otto Anker |
| contents | This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a spacing-regulation layer based on a lag-aware proportional-integral-derivative (PID) controller, and a slow-timescale economic optimizer balancing fuel consumption and travel time. The safety layer guarantees collision avoidance under bounded actuation delays by enforcing forward invariance of a velocity-aware headway constraint through a high-order control barrier function. The regulation layer shapes the spacing-error dynamics into a second-order form with interpretable parameters for damping and natural frequency while explicitly accounting for actuator lag. At the macroscopic level, fuel use is modeled by a tractive-power relation that captures aerodynamic benefits of close spacing, enabling a long-term optimization of speed trajectories subject to comfort and energy trade-offs. We show that the closed-loop dynamics converge to the Optimal Velocity Model with Relative Velocity (OVRV) under undisturbed conditions and derive worst-case upper bounds for platoon stabilization time. Numerical case studies demonstrate the superiority of the proposed design over an canonical baseline controllers in both transient behavior and long-term energy efficiency. |
| format | Preprint |
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arxiv_https___arxiv_org_abs_2511_12336 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Safe and Operationally Efficient Longitudinal Control of Autonomous Truck Platoons Hammerl, Alexander Seshadri, Ravi Rasmussen, Thomas Kjær Nielsen, Otto Anker Optimization and Control This paper presents a hierarchical longitudinal control architecture for autonomous truck platoons that jointly addresses safety, string stability, and economic efficiency. The framework integrates a high-rate safety projection filter, a spacing-regulation layer based on a lag-aware proportional-integral-derivative (PID) controller, and a slow-timescale economic optimizer balancing fuel consumption and travel time. The safety layer guarantees collision avoidance under bounded actuation delays by enforcing forward invariance of a velocity-aware headway constraint through a high-order control barrier function. The regulation layer shapes the spacing-error dynamics into a second-order form with interpretable parameters for damping and natural frequency while explicitly accounting for actuator lag. At the macroscopic level, fuel use is modeled by a tractive-power relation that captures aerodynamic benefits of close spacing, enabling a long-term optimization of speed trajectories subject to comfort and energy trade-offs. We show that the closed-loop dynamics converge to the Optimal Velocity Model with Relative Velocity (OVRV) under undisturbed conditions and derive worst-case upper bounds for platoon stabilization time. Numerical case studies demonstrate the superiority of the proposed design over an canonical baseline controllers in both transient behavior and long-term energy efficiency. |
| title | Safe and Operationally Efficient Longitudinal Control of Autonomous Truck Platoons |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2511.12336 |