Browse Topic: Platooning

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SAE TOMORROW TODAY - Scalable AV Deployment Starts with Fewer Close Calls1351305/01/2025
The hallmark of exceptional autonomous driving technology isn't just how it reacts in a crisis but how it avoids one altogether. That's the vision behind May Mobility: a world where self-driving cars confidently navigate busy intersections, unexpected detours, and pedestrian-filled crosswalks with the instincts of a seasoned human driver. At the core of May Mobility's technology platform is its patented Multi-Policy Decision Making (MPDM) system. This breakthrough technology uses real-time, in-situ AI to interpret data, continuously learning and adapting to new, complex, and unpredictable driving conditions. By learning on the fly--much like a human driver--May Mobility's AVs can be deployed faster and more cost-effectively than traditional systems. To explore how May Mobility is scaling its AV technology, we spoke with Ed Olson, CEO and Founder, about the company's city-wide AV deployments, strategic partnerships with Toyota and NTT, and its entrance into the rideshare market through
Hineman, Marcie
Podcast
bp w revbestPractice204/08/2025
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Best Practice
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JMS BP initial product
AESQ Steering Group
Best Practice
TitlebestPractice103/31/2025
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Best Practice
automation test jms - titleSAE-PP-0946501/31/2025
automation test jms - abstact
Rickard, Christopher
Pre-Print Article
testing author affiliationsSAE-PP-0945801/10/2025
test
SintzADMIn, Jeneane, Gatts, Joshua, GattsCurator, Josh, GattsCurator2, Josh, GattsCurator2, Josh
Pre-Print Article
testing exclusion rulesSAE-PP-0945111/05/2024
testing
SintzADMIn, Jeneane
Pre-Print Article
Anticipation-Based Autonomous Platoon Control Strategy with Minimum Parameter Learning Adaptive Radial Basis Function Neural Network (MPL-ARBF-NN) Sliding Mode Control 2022-01-034803/29/2022
Human-driver is stochastic in nature and usually difficult to predict. In car following scene, where an autonomous vehicle platoon follows a human-driven vehicle having a complex acceleration behavior therefore needs greater attention for smooth traffic flow. To guarantee a string stable platoon operation, an efficient vehicle controller must be developed for fast convergence, adaptation simplicity, ease of design and real-time performance. The research proposed an adaptive fuzzy system-based compound variable exponential power reaching law (CVEPRL) sliding mode control in a backstepping design framework. The fuzzy system employs an efficient adaptation to minimize computational burden in real-time operation of the platoon. The ease of controller development arise from the backstepping control design and robustness of the controller can be inherited from sliding mode control (SMC). The autonomous vehicle can be modeled as a third order nonlinear plant with a varying disturbance term
Negash, Natnael M., Yang, James
Technical Paper
Multi trucks platooning fuel economy test results with cooperative adaptive cruise control under real-world driving conditions2022-01-050103/29/2022
The application of cooperative adaptive cruise control (CACC) to heavy-duty trucks known as truck platooning has shown fuel economy improvements over test track ideal driving conditions. However, there are limited test data available to assess the performance of CACC under real-world driving conditions for 3 trucks automation. As part of a U.S. Department of Energy Funding Opportunity Announcement award project, 3 trucks platooning with CACC has been tested under real-world driving conditions and the results are presented in this paper. On-highway testing is done on a route in Indiana representing the operation of long-haul Class 8 trucks in the United States. The road includes low, medium and high grade segments. The impact of road grade variation and traffic on truck platooning is analyzed and some of the issues with this technology are identified for further research and improvements.
Borhan, Hoseinali, Brady, Nathan, YU, Chia-Siung, Fuhs, Karla, Adi, Gayatri, Pattel, Bibin, Lammert, Michael
Technical Paper
New Metrics for Quantifying the Energy Efficiency of Platoons in the Presence of Disturbances2022-01-064503/29/2022
Due to aerodynamic drag reduction, vehicles have shown significant fuel savings while platooning in close succession. However, when circumstances force active deceleration to maintain the platoon, such as vehicle cut-ins or grade changes, the aerodynamic efficiency benefits may be undermined. In this work, the influence of active deceleration on platooning dynamics is investigated using over 400 hours of experimental data from PID-controlled and NMPC-controlled vehicle platoons. The test vehicles are Class 8 line-haul tractors with dry vans and various powertrain configurations. Using J1939 CAN data and GPS-estimated grade profiles, off-throttle data is isolated and longitudinal acceleration is estimated as a function of grade using Kalman filtering. Efficiency losses are analyzed as a function of active deceleration and analyzed to describe the effects of grade and cut-ins on platooning fuel economy. Finally, new metrics are proposed to analyze the efficiency of platoons that
Stegner, Evan, Snitzer, Philip, Bevly, David M., Hoffman, Mark
Technical Paper
Arrangement and Control Method of Cooperative Vehicle Platoon2021-01-011304/06/2021
With the development of cellular communication technology and for the sake of reducing drag resistance, the multi-lane platoon technology will be more prosperous in the future. In this article, the cooperative vehicle platoon method on the public road is represented. The method’s architecture is mainly composed of the following parts: decision-making, path planning and control command generation. The decision-making uses the finite state machine to make decision and judgment on the cooperative lane change of vehicles, and starts to execute the lane change step when the lane change requirements are met. In terms of path planning, with the goal of ensuring comfort, the continuity of the vehicle state and no collision between vehicles, a fifth-order polynomial is used to fit every vehicle trajectory. In terms of control command generation module, a model predictive control algorithm is used to solve the multi-vehicle centralized optimization control problem. We use the two DOF vehicle
Chen, Guosheng, Wu, Jian, Li, Shuai, Zhang, Jinghua, Du, Zhiqiang, Wang, Guojun, Chen, Zhicheng
Technical Paper
Intelligent Traffic Control Method for Emergency Vehicles Prioritization Based on DSRC Transportation System2018-01-164408/07/2018
Emergency Vehicles (EmVs) prioritization is critical to be studied in view of the effectiveness of emergency delivery. Adaptive traffic lights can be employed based on DSRC (Dedicated Short Range Communication) system, as vehicle status and traffic lights information can be delivered to Road Side Unit (RSU). In other research work of manipulating traffic lights, only the EmVs are considered. Therefore there are still risks for non-EmVs due to insufficient time of braking. This paper provides an adaptive traffic light control method which takes into account of EmVs and non-EmVs on all the directions of lanes at the road section. In this control method, three operation modes of traffic light are proposed and the traffic light can be converted among three operation modes: Normal mode, Warning mode and Priority mode. Moreover, a collision prediction of upcoming non-EmVs on the orthogonal lane of EmVs in the junction is performed, which results in non-EmVs protection within predefined
Guo, Peng, Wang, Mengdan, Rong, Hui, Wang, Wenyang
Technical Paper
Autonomous Vehicle Engineering: August 201818AVEP0808/02/2018
Editorial V2Reality Blockchain Unchained! The weird world of cryptocurrency exists because of the intense mathematics of blockchain technology. The mobility sector is looking beyond Bitcoin to put blockchain to work in potentially game-changing ways. Are Blockchain and 'Smart Contracts' the Secure Future? Legal risk and reward of blockchain and smart contracts as a prescription for automotive applications Software Building Blocks for AV Systems Elektrobit's unique software framework is designed to smooth development of automated driving functions. Cyber Security Goes Upstream The first cloud-based solution for connected vehicles was born in Israel and is now pilot testing at global OEMs. Electronic Architectures Get Smart Upgradable, scalable and powerful new architectures will help enable data-hungry connected, autonomous vehicles. Aptiv's VP of Mobility Architecture explains. Reliability, Safety, and AV Development An overemphasis on safety without a robust and equivalent reliabili
Magazine Issue
2021-12-29.TEST Drive Scenario Generation Based on Metrics for Evaluating an Autonomous Vehicle Controller2018-01-003404/03/2018
An important part of automotive driving assistance systems and autonomous vehicles is speed optimization and traffic flow adaptation. Vehicle sensors and wireless communication with surrounding vehicles and road infrastructure allow for predictive control strategies taking near-future road and traffic information into consideration to improve fuel economy. For the development of autonomous vehicle speed control algorithms, it is imperative that the controller can be evaluated under different realistic driving and traffic conditions. Evaluation in real-life traffic situations is difficult and experimental methods are necessary where similar driving conditions can be reproduced to compare different control strategies. A traditional approach for evaluating vehicle performance, for example fuel consumption, is to use predefined driving cycles including a speed profile the vehicle should follow. However, if the vehicle speed is part of the vehicle control output, a different vehicle
Tamilarasan, Santhosh, Jung, Daniel, Guvenc, Levent
Technical Paper
Prediction formula of Aerodynamic Drag Reduction in Multiple-Vehicle Platooning Based on Wake Analysis and On-Road Experiments2016-01-159604/05/2016
An experimental study on reducing aerodynamic drag and improving fuel economy through vehicle platooning was conducted to develop an Intelligent Transport System (ITS) with good fuel economy of the entire vehicle-based transportation society. The objectives of the present study are to achieve a simple and quick approach to estimating the aerodynamic drag reduction rates of vehicle platooning. This paper reports the prediction formula, including the conditions of various types of vehicles in multiple-vehicle platooning, based on the power law of a free turbulent axisymmetric wake and on-road experimental results. Note, the prediction formula in this study does not fully include the effect of various type of wake deficit patterns due to rear shape of vehicle and atmospheric wind. Therefore, continuous study is needed to examine the applicable limit.
Tadakuma, Kenji, Doi, Tomoyuki, Maeda, Kazuhiro, Shida, Mitsuhisa
Journal Article
High Speed Optimal Yaw Stability of Tractor-Semitrailers with Active Trailer Steering2014-01-009304/01/2014
Most tractor-semitrailers are fitted with multi-axle trailers which cannot be actively steered, and such vehicles with an articulated configuration are inclined to exhibit instability such as trailer swing, jack-knifing, and rollover at high speed. Proposed in this paper is an optimal control of the yaw stability of tractor-semitrailers at high speed by applying an active trailer's steering angle. An optimal control algorithm is designed by employing a 3-DOF vehicle model in the yaw plane. The optimal linear quadratic regulator (LQR) approach is used with a cost function including sideslip angles, yaw rates of both tractor and trailer, and trailer's steering angle. The yaw stability at the high speed is also quantified by the dynamic performance measurements of lateral path deviation, hitch angle and rearward amplification (RA). The algorithm is evaluated by co-simulations using TruckSim and Matlab/Simulink softwares. Simulation results under double lane change maneuvers show that
Lin, Xiaomin, Ding, Nenggen, Xu, Guoyan, Gao, Feng
Technical Paper
Numerical and Experimental Investigation on Vehicles in Platoon2012-01-017504/16/2012
Many studies have been carried out to optimize the aerodynamic performances of a single car or a single vehicle. In present days the traffic increases and sophisticated technologies are developing to guarantee the drivers safety, to minimize the fuel consumption and be more environmentally friendly. Within this research area a new technique that is being studied is Platooning: this means that different vehicles travel in a configuration that minimizes the aerodynamic drag and therefore the fuel consumption and the longitudinal space. In the present study platoons with different vehicles and configurations are taken into account, to analyze the influence of car shape and relative distance between the vehicles. The research has been carried out using CFD techniques to investigate the different flow fields around different platoons, while wind tunnel tests have been used to validate the results of the CFD simulations. The results show that vehicles with an estate back, like station wagons
Schito, Paolo, braghin, Francesco
Journal Article
Integrated Controller Design for Path Following in Autonomous Vehicles2011-01-103204/12/2011
This paper focuses on the problem of path following in autonomous vehicles. A solution to this problem is a strategy during which a feedback/feed-forward control law is considered to control the path of the vehicle. In this controller, feedback and feed-forward gains are calculated based on the vehicle dynamic and road-concerned variables. A linear quadratic regulator (LQR) technique is applied to a three-degree of-freedom (DOF) linear vehicle model and three types of controllers are designed with the use of active front steering (AFS), four-wheel steering (4WS) and combination of an AFS with a direct yaw moment control (DYC) systems. A comparison is made about the performance and the efficacy among the different controllers in two different maneuvers. An 8-DOF nonlinear vehicle model is used for simulation purposes. It is concluded that 4WS system shows better potential for path following control of an autonomous vehicle.
Mashadi, Behrooz, Ahmadizadeh, Pouyan, Majidi, Majid
Technical Paper
Investigating Control of Vision Based Autonomous Navigation in the Image Plane2010-01-200510/05/2010
This paper develops a novel integrated navigational system for autonomous vehicle motion control. Vehicle control is defined in terms of the required vehicle steering angle, rate of steering change and speed. This paper proposes predictive control in the image plane. The proposed predictive control enables the navigation on the desired path, reduces the control complexity and increases the application space for multiple types of vehicles. The paper investigates vehicle control stability; especially in scenarios containing varying curvature turns and variable vehicle speeds. The primary emphasis of this paper is on vehicle control rather than scene analysis. To demonstrate the proposed vehicle control, a computer vision based multi-lane detection algorithm is introduced. The control strategy is applied such that the vehicle maintains position within the lane boundaries. Stability of the control algorithm is tested and demonstrated in multiple scenarios using 3-D simulation results.
Gupta, Rachana Ashok, Snyder, Wesley, Pitts, W Shepherd
Journal Article
Roll your own10OFHD1001_0410/01/2010
Technological advances into autonomously controlled vehicles facilitate road trains and troop support. Platooning of trucks and cars has been a long-sought-after goal of engineers who believe that the autonomous control of vehicles can save lives and fuel. While the technology of platooning or road trains is well known and studied, it has not transitioned beyond the test track because of the cost to install the necessary sensors and other infrastructure directly onto motorways. To surmount that problem, engineers are taking a different tack. Instead of focusing on the highway, engineers are now instead zeroing in on the vehicles. Some believe it to be a much more cost-effective solution that provides most of the desired benefits of platooning.
Rosenberg, Barry
Magazine Article
Autonomous Lane Changing Using Model Predictive Control2005-01-147304/11/2005
This paper takes a look at one of the problems associated with the concept of autonomous control of vehicles in the current traffic environment, namely the changing of lanes. Given the increase in traffic density on highways and interstate roads over the past few decades, safe navigation of individual vehicles has required increased driver attention and diligence to an increased number of visual information cues. The concept of autonomous vehicles operating without driver intervention in the present traffic system appears daunting. One aspect of traffic maneuvering involves changing lanes to a position between two other vehicles. Although this aspect appears straightforward, it is the lack of accurate knowledge of other vehicle maneuvering which makes the task difficult. Using Model Predictive Control (MPC) techniques, the task is addressed in an optimization problem framework.
Winstead, Vincent
Technical Paper
Information Report on Its Terms and DefinitionsJ1761_200304 (Current)05/05/2003
This SAE Information Report defines consistent terminology for Intelligent Transportation Systems (ITS). The list of defined terms is followed by a list of acronyms. Certain criteria were used in selecting terms for this document. Terms in widespread use in the ITS community covering significant services, technologies and applications were chosen. This document focuses on terms used in the United States, although it covers aspects of worldwide ITS deployment. This document focuses on automotive applications, which include interfaces to and from the automobile. Later version may include a wider scope. ITS includes a wide array of services, applications, and technologies. The Department of Transportation ITS National program Plan divides ITS into 29 User Services, which are included in this glossary. The User Services range from pre-Trip Travel Planning to Fully Automated Highway Systems. Other organizations and experts have divided ITS into a smaller set of more general application
Motor Vehicle Council
Technical Standard
Control Concept for Plants with Model Uncertainties2002-01-014103/04/2002
In this paper a robust controller design task for longitudinal and lateral dynamic of non-identical autonomous road vehicles is considered. In order to use identical controllers for different vehicles the varying parameters are regarded as unstructured model uncertainties. How unstructured model uncertainties are described and how they are taken into account during the controller design process is shortly presented. The used control concept for plants with model uncertainties in form of a standard H∞ - control task is described. The resulting longitudinal and lateral control laws for non-identical vehicles are discussed concerning the varying vehicle parameters. The first practical results with respectively one control law for longitudinal and lateral dynamic of non-identical autonomous vehicles are presented. It is shown that through the appropriate choice of design parameters, varying vehicle dynamics can be taken into account without substantial losses regarding accuracy and
Becker, Uwe, Ganzelmeier, Lothar, Helbig, Jörg, Schnieder, Eckehard
Technical Paper
Implementation of Human-Like Driving for Autonomous Vehicle2001-01-080503/05/2001
The sensing and control scheme of autonomous vehicle, learned from the human driving is considered. To implement human driving manners, we imitate “characteristics of the human eye” and “human driving rules extracted from driver’s feeling”. Following two approaches are considered; 1. Reduction of image processing load of FFT picture compression technique by the manner of human eye sensitivity. 2. Simplified driving rules extracted from the human driving manner correspond to the energy minimum optimal control.
Kawashima, Aoi, Kobayashi, Kazuyuki, Watanabe, Kajiro
Technical Paper
A University/Industry/Government Test Program to Evaluate the Durability of Trucks and Pavement Surfaces97326611/17/1997
A new oval test track will be designed, constructed and operated in a manner that will successfully pull-together representatives from virtually all of the key interests in dealing with the challenging issues of highway pavement and truck durability. With construction scheduled to begin in the Summer of 1998 and completion scheduled for late 1998 or early 1999, the mission and commitment for this venture is to pull-together the people from several state DOTs, respective universities, and, of vital importance, the truck manufacturing industry. Results from these tests, over a period of a few years, will provide answers that not only greatly improve performance of hot mix asphalt pavements in all state DOTs, but also efficiently and productively address issues of durability and wear performance of medium / heavy duty trucks and key components. Key features of this track will be the placement of test sections of asphalt pavement to be provided by the various states, utilizing the
Woehrle, William J., Pajtas, Scott R.
Technical Paper
Fitting Into the Process: Institutional Issues Affecting Development and Deployment of Automated Highway Systems97265608/06/1997
A research effort in response to institutional issues identified by the National Automated Highway System Consortium -- particularly the steps necessary to integrate Automated Highway Systems (AHS) into the transportation planning and decision-making process -- revealed not only the concerns to be addressed and barriers to be overcome in developing and deploying AHS, but also issues and barriers transportation officials at every level already confront in the current, and rapidly changing, legislative, funding and technological environment. The findings also suggest possible institutional blocks toward intelligent transportation systems in general and AHS in particular.
Chang, John, Hanson, Matt, Lubliner, Alan
Technical Paper
Information Report on Its Terms and DefinitionsJ1761_199512 (Historical)12/01/1995
This SAE Information Report defines consistent terminology for Intelligent Transportation Systems (ITS). The list of defined terms is followed by a list of acronyms. Certain criteria were used in selecting terms for this document. Terms in widespread use in the ITS community covering significant services, technologies and applications were chosen. This document focuses on terms used in the United States, although it covers aspects of worldwide ITS deployment. This document focuses on automotive applications, which include interfaces to and from the automobile. Later version may include a wider scope. ITS includes a wide array of services, applications, and technologies. The Department of Transportation ITS National program Plan divides ITS into 29 User Services, which are included in this glossary. The User Services range from pre-Trip Travel Planning to Fully Automated Highway Systems. Other organizations and experts have divided ITS into a smaller set of more general application
ITS Council
Information Report
538B-1 Hand-Held MicrophoneARINC538B-1 (Current)02/01/1983
This standard describes a hand-held microphone for use with airborne radio installations.
Airlines Electronic Engineering Committee
Characteristic
Evaluation of the Operating Conditions on a Detroit Dual-Mode Vehicle Network72027202/01/1972
The success of urban automated vehicle networks will depend very strongly on the availability of an efficient traffic management strategy for such networks. Previous papers have discussed an automated network traffic management strategy, known as cycle preprogramming, which appears potentially capable of accomplishing the necessary coordination of vehicle flows in a large automated network. This paper develops a methodology by means of which the efficiency of the cycle preprogramming strategy in managing traffic in a large network can be studied. The methodology is then used to analyze the operating conditions on an example automated network for the Detroit area.
Stefanek, Robert G., Kiselewich, Stephen J.
Technical Paper
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