Heavy Road Vehicle Platoon Control Considering Brake Fade with Adaptive Mass and Road Gradient Estimation

Heavy commercial road vehicle (HCRV) platoons are viable logistic solutions to freight movement. During long haul platoon operation, it is common to encounter roads of different gradients. This paper investigates the effect of brake fade phenomenon, which happens due to the continuous application of...

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Bibliographic Details
Published in:IEEE access 2022, Vol.10, p.1-1
Main Authors: Devika, K. B., Rohith, G., Subramanian, Shankar C.
Format: Article
Language:English
Subjects:
Actuators
Adaptation models
Adaptive control
Algorithms
Brake Fade
Brakes
Commercial vehicles
Control systems design
Controllers
Heavy Commercial Road Vehicle
Platoon
Road conditions
Road Gradient
Road traffic
Roads
Roads & highways
Sliding mode control
Stability analysis
String Stability
Strings
Temperature effects
Thermal stability
Tires
Vehicle dynamics
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Summary:Heavy commercial road vehicle (HCRV) platoons are viable logistic solutions to freight movement. During long haul platoon operation, it is common to encounter roads of different gradients. This paper investigates the effect of brake fade phenomenon, which happens due to the continuous application of brake during downgrade operation on the string stability of HCRV platoons. A brake actuator model incorporating temperature effects during braking and characterizing brake fade has been used. A Sliding Mode Control (SMC) based string stable controller, which compensates for brake fade, has been designed. Since the brake fade factor and hence platoon stability directly depend upon the road gradient and vehicle mass, which are not directly measurable quantities, an algorithm that adaptively estimates the same has been integrated with the controller design. The algorithm could estimate the mass and gradient values with less than 2% mean absolute percentage error. The stability of the proposed fade compensated controller has been analyzed and its efficacy has been tested for various road conditions and for homogeneous and heterogeneous (overloaded cases) platoon operations. The proposed approach was seen to ensure string stability for all the considered test scenarios.
ISSN:2169-3536
2169-3536
DOI:10.1109/ACCESS.2022.3212756