Spring–Mass–Damper-Based Platooning Logic for Automated Vehicles

Document Type

Article

Publication Date

5-1-2023

Abstract

This paper applies a classical physics-based model to control platooning autonomous vehicles (AVs) in a commercial traffic simulation software. In the spring–mass–damper (SMD) model, each vehicle is assumed as a mass coupled with its preceding vehicle with a spring and a damper: the spring constant and damper coefficient control spacing and speed adoption between vehicles. Limitations on the platooning-oriented communication range and number of vehicles in each platoon are applied to the model to reflect real-world circumstances and avoid overlengthened platoons. The SMD model controls both intra-platoon and inter-platoon interactions. Initial evaluation of the model reveals that it does not cause a negative spacing error between AVs in a harsh deceleration scenario, guaranteeing safety. Besides that, the SMD model produces a smaller positive average spacing error than the VISSIM built-in platooning module, which prevents maximum throughput drop. The simulation result for a regular highway section reveals that the proposed platooning algorithm increases the maximum throughput by 10%, 29%, and 63% under 10%, 50%, and full market penetration rate (MPR) of AVs, respectively, with a 0.5 s response time. A merging section with different volume combinations on the main section and merging section and different MPRs of AVs is also modeled to test inter-platoon spacing policy effectiveness in accommodating merging vehicles. Travel time reductions of 20% and 4% are gained under a low MPR of AVs on the main lane and merging lane, respectively. Meanwhile, a more noticeable travel time reduction is observed in both main lane and merging lanes and under all volume combinations in higher AV MPRs.

Identifier

85163066867 (Scopus)

Publication Title

Transportation Research Record

External Full Text Location

https://doi.org/10.1177/03611981221143121

e-ISSN

21694052

ISSN

03611981

First Page

1264

Last Page

1274

Issue

5

Volume

2677

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