网联自动驾驶货车编队规划与控制研究综述

doi:10.3969/j.issn.1007-7375.230246

摘要/Abstract

摘要： 物流运输联盟内开展货车编队运行，有望成为未来物流运输降低运营成本的新形态。本文以网联自动驾驶货车编队规划与控制为研究对象，通过文献检索来分析网联自动驾驶货车编队的关键技术与研究现状。从市场应用角度，分析目前实现货车编队市场应用面临的挑战，以及相关利益方之间的成本分配问题。从技术方法视角，围绕网联自动驾驶编队规划与运作控制问题，解读相关技术内涵与实现方法。通过评述网联自动驾驶编队技术研究现状，总结该领域未来研究方向，旨在为研究者掌握该方向发展脉络提供参考。

关键词: 网联自动驾驶货车, 物流运输, 编队规划, 编队控制, 系统优化

Abstract: Truck platooning organized by the logistics alliance may become a new form of future logistics transportation for reducing operating cost. The key technologies and related research progress on planning and control of connected autonomous truck (CAT) platooning is analyzed in this paper through literature search. From the perspective of commercial application, the challenges of currently implementing CAT platooning are discussed, also the cost allocation issues among relevant stakeholders are analyzed. From the perspective of technologies, the corresponding fundamentals and methods are interpreted considering planning and control of CAT platooning. By reviewing the existing studies of CAT platooning, the future research interests are concluded. The motivation of this paper is to provide a possible reference for researchers to understand the trends on CAT platooning.

Key words: connected autonomous truck (CAT), logistics and transportation, platoon planning, platoon control, system optimization

中图分类号:

F407.6
F502

傅惠, 金诚谦, 牛张哲, 曾伟良. 网联自动驾驶货车编队规划与控制研究综述[J]. 工业工程, 2024, 27(1): 25-35.

FU Hui, JIN Chengqian, NIU Zhangzhe, ZENG Weiliang. A Review on Planning and Control of Connected Autonomous Truck Platooning[J]. Industrial Engineering Journal, 2024, 27(1): 25-35.

参考文献

[1] HUMMER J E. Driverless America: what will happen when most of us choose automated vehicles[M]. USA: SAE International, 2020.
[2] TALEBIAN A, MISHRA S. Unfolding the state of the adoption of connected autonomous trucks by the commercial fleet owner industry[J]. Transportation Research Part E, 2022, 158: 102616
[3] SIMPSON J R, SHARMA I, MISHRA S. Modeling trucking industry perspective on the adoption of connected and autonomous trucks[J]. Research in Transportation Business and Management, 2022, 45: 100883
[4] BERGENHEM C, HEDIN E, SKARIN D. Vehicle-to-vehicle communication for a platooning system[J]. Procedia-Social and Behavioral Sciences, 2012, 48: 1222-1233
[5] MAITI S, WINTER S, KULIK L. A conceptualization of vehicle platoons and platoon operations[J]. Transportation Research Part C, 2017, 80: 1-19
[6] JANSSEN G R, ZWIJNENBERG J, BLANKERS I J, et al. Truck platooning: driving the future of transportation[DB/OL]. (2015-02). https://trid.trb.org/view/1350499.
[7] TSUGAWA S, KATO S, AOKI K. An automated truck platoon for energy saving[C/OL]//IEEE/RSJ International Conference on Intelligent Robots and Systems. New York: IEEE, 2011: 4109–4114 (2011-12-05). https://ieeexplore.ieee.org/document/6094549.
[8] MA X, HUO E, YU H, et al. Mining truck platooning patterns through massive trajectory data[J]. Knowledge-Based Systems, 2021, 221: 106972
[9] 周伟力. 文远知行发布L4自动驾驶轻客, 进军货运领域[EB/OL]. (2021-09-11). https://baijiahao.baidu.com/s?id=1710577370636936360&wfr=spider&for=pc.
[10] 亦城时报. 自动驾驶卡车企业抢下两个全市首家[EB/OL]. (2023-10-10). https://open.beijing.gov.cn/html/yizhuang/gzdt/2023/10/1696907894219.html.
[11] 潘亮. 广州首个自动驾驶卡车来了!获准L4级编队行驶测试[EB/OL]. (2023-11-22). http://k.sina.com.cn/article_2131593523_7f0d893302001chgp.html.
[12] GUANETTI J, KIM Y, BORRELLI F. Control of connected and automated vehicles: state of the art and future challenges[J]. Annual Reviews in Control, 2018, 45: 18-40
[13] CHENG H, WANG Y, CHONG D, et al. Truck platooning reshapes greenhouse gas emissions of the integrated vehicle-road infrastructure system[J]. Nature Communications, 2023, 14: 1-10
[14] WANG M, MAARSEVEEN S V, HAPPEE R, et al. Benefits and risks of truck platooning on freeway operations near entrance ramp[J]. Transportation Research Record:Journal of the Transportation Research Board, 2019, 2673(8): 588-602
[15] CALVERT S C, SCHAKEL W J, Arem B V. Evaluation and modelling of the traffic flow effects of truck platooning[J]. Transportation Research Part C, 2019, 105: 1-22
[16] GUAJARDO M, RÖNNQVIST M. A review on cost allocation methods in collaborative transportation[J]. International Transactions in Operational Research, 2016, 23(3): 371-392
[17] HOU J, CHEN G, HUANG J, et al. Large-scale vehicle platooning: advances and challenges in scheduling and planning techniques[J]. Engineering, 2023, 28: 26-48
[18] ZHANG Y, XU Z, WANG Z, et al. Impacts of communication delay on vehicle platoon string stability and its compensation strategy: a review[J]. Journal of Traffic and Transportation Engineering (English Edition) , 2023, 10(4): 508-529
[19] BHOOPALAM A K, AGATZ N, ZUIDWIJK R. Planning of truck platoons: a literature review and directions for future research[J]. Transportation Research Part B, 2018, 107: 212-228
[20] NASRI M I, BEKTAS T, LAPORTE G. Route and speed optimization for autonomous trucks[J]. Computers and Operations Research, 2018, 100: 89-101
[21] TURRI V, BESSELINK B, JOHANSSON K H. Cooperative look-ahead control for fuel-efficient and safe heavy-duty vehicle platooning[J]. IEEE Transactions on Control Systems Technology, 2017, 25(1): 12-28
[22] BEZAI N E, MEDJDOUB B, AL-HABAIBEH A, et al. Future cities and autonomous vehicles: analysis of the barriers to full adoption[J]. Energy and Built Environment, 2021, 2(1): 65-81
[23] 景鹏, 袁代标, 杜刘洋, 等. 基于科学知识图谱的自动驾驶技术接受度研究综述[J]. 江苏大学学报 (自然科学版) , 2023, 44(1): 14-21
JING Peng, YUAN Daibiao, DU Liuyang, et al. Research of acceptance of autonomous vehicles technology based on mapping knowledge domain[J]. Journal of Jiangsu University (Natural Science Edition) , 2023, 44(1): 14-21
[24] RAJ A, KUMAR J A, BANSAL P. A multicriteria decision making approach to study barriers to the adoption of autonomous vehicles[J]. Transportation Research Part A, 2020, 133: 122-137
[25] CASTRITIUS S M, LU X, BERNHARD C, et al. Public acceptance of semi-automated truck platoon driving. A comparison between Germany and California[J]. Transportation Research Part F, 2020, 74: 361-374
[26] BHOOPALAM A K, VAN DEN BERG R, AGATZ N, et al. The long road to automated trucking: insights from driver focus groups[J]. Transportation Research Part C, 2023, 156: 104351
[27] SIMPSON J R, MISHRA S, TALEBIAN A, et al. An estimation of the future adoption rate of autonomous trucks by freight organizations[J]. Research in Transportation Economics, 2019, 76: 100737
[28] SIMPSON J R, MISHRA S. Developing a methodology to predict the adoption rate of connected autonomous trucks in transportation organizations using peer effects[J]. Research in Transportation Economics, 2021, 90: 100866
[29] BECKER F, AXHAUSEN K W. Literature review on surveys investigating the acceptance of autonomous vehicles[J]. Transportation, 2017, 44(6): 1293-1306
[30] CHEN S, WANG H, MENG Q. Cost allocation of cooperative autonomous truck platooning: efficiency and stability analysis[J]. Transportation Research Part B, 2023, 173: 119-141
[31] BOUCHERY Y, HEZARKHANI B, STAUFFER G. Coalition formation and cost sharing for truck platooning[J]. Transportation Research Part B, 2022, 165: 15-34
[32] SINDI S, WOODMAN R. Implementing commercial autonomous road haulage in freight operations: an industry perspective[J]. Transportation Research Part A, 2021, 152: 235-253
[33] XUE Z, LIN H, YOU J. Local container drayage problem with truck platooning mode[J]. Transportation Research Part E, 2021, 147: 102211
[34] 张泽锡, 钟文健, 林柏梁. 带时间窗的卡车编队路径优化[J]. 交通运输系统工程与信息, 2022, 22(5): 253-263
ZHANG Zexi, ZHONG Wenjian, LIN Boliang. Optimization of Truck platooning routing with time windows[J]. Journal of Transportation Systems Engineering and Information Technology, 2022, 22(5): 253-263
[35] OKTE E, AL-QADI I L. Determining road networks' platoonability[J]. Journal of Transportation Engineering Part A, 2021, 147(10): 04021060
[36] LUO F, LARSON J. A repeated route-then-schedule approach to coordinated vehicle platooning: algorithms, valid inequalities and computation[J]. Operations Research, 2022, 70(4): 2477-2495
[37] YAN X, XU M, XIE C. Local container drayage problem with improved truck platooning operations[J]. Transportation Research Part E, 2023, 169: 102992
[38] YOU J, MIAO L, ZHANG C, et al. A generic model for the local container drayage problem using the emerging truck platooning operation mode[J]. Transportation Research Part B, 2020, 133: 181-209
[39] GUNGOR O E, SHE R, AL-QADI I L, et al. One for all: decentralized optimization of lateral position of autonomous trucks in a platoon to improve roadway infrastructure sustainability[J]. Transportation Research Part C, 2020, 120: 102783
[40] SONG M, CHEN F, MA X. Organization of autonomous truck platoon considering energy saving and pavement fatigue[J]. Transportation Research Part D, 2021, 90: 102667
[41] LIANG K Y, MARTENSSON J, JOHANSSON K H. Heavy-duty vehicle platoon formation for fuel efficiency[J]. IEEE Transactions on Intelligent Transportation Systems, 2016, 17(4): 1051-1061
[42] ZHANG W, JENELIUS E, MA X. Freight transport platoon coordination and departure time scheduling under travel time uncertainty[J]. Transportation Research Part E, 2017, 98: 1-23
[43] LARSSON E, SENNTON G, LARSON J. The vehicle platooning problem: computation complexity and heuristics[J]. Transportation Research Part C, 2015, 60: 258-277
[44] ZHAO B, LEUS R. An improved decomposition-based heuristic for truck platooning[J]. Computers and Operations Research, 2024, 161: 106439
[45] MEISEN P, SEIDL T, HENNING K. A data mining technique for the planning and organization of truck platoons[C/OL]//International Conference on Heavy Vehicles. Hoboken: Wiley Online Library, 2008: 270-279 (2009-04-06). https://onlinelibrary.wiley.com/doi/abs/10.1002/9781118557464.ch30.
[46] VAN DE HOEF S. Fuel-efficient centralized coordination of truck platooning[D]. Stockholm: KTH Royal Institute of Technology, 2016.
[47] ADLER A, MICULESCU D, KARAMAN S. Optimal policies for platooning and ride sharing in autonomy- enabled transportation[M/OL]//Algorithmic Foundations of Robotics XII. Switzerland: Springer, 2020: 848-863 (2020-05-07). https://link.springer.com/chapter/10.1007/978-3-030-43089-4_54.
[48] LIANG K Y, MARTENSSON J, JOHANSSON K H. Fuel-saving potentials of platooning evaluated through sparse heavy-duty vehicle position data[C/OL]//IEEE Intelligent Vehicles Symposium. New York: IEEE, 2014: 1061-1068 (2014-06-14). https://ieeexplore.ieee.org/abstract/document/6856540.
[49] BESSELINK B, TURRI V, VAN DE HOEF S, et al. Cyber-physical control of road freight transport[C/OL]// IEEE International Conference on Autonomic Computing. New York: IEEE, 2016, 104 (5) : 1128-1141 (2016-03-21). https://ieeexplore.ieee.org/document/7437386.
[50] LI Q, CHEN Z, LI X. A review of connected and automated vehicle platoon merging and splitting operations[J]. IEEE Transactions on Intelligent Transportation Systems, 2022, 23(12): 22790-22806
[51] GUO G, WANG Q. Fuel-efficient en route speed planning and tracking control of truck platoons[J]. IEEE Transactions on Intelligent Transportation Systems, 2019, 20(8): 3091-3103
[52] LIAN R, LI Z, WEN B, et al. Multiagent deep reinforcement learning for automated truck platooning control[J/OL]. IEEE Intelligent Transportation Systems Magazine, 2023 (2023-10-06). https://ieeexplore.ieee.org/abstract/document/10273625.
[53] DURET A, WANG M, LADINO A. A hierarchical approach for splitting truck platoons near network discontinuities[J]. Transportation Research Part B, 2019, 132: 285-302
[54] XUE Y, DING C, YU B, et al. A platoon-based hierarchical merging control for on-ramp vehicles under connected environment[J]. IEEE Transactions on Intelligent Transportation Systems, 2022, 23(11): 21821-21832
[55] KIM J. Truck platoon control considering heterogeneous vehicles[J]. Applied Sciences, 2020, 10(15): 5067
[56] LI M, LI Z, ZHOU Y, et al. A cooperative energy efficient truck platoon lane-changing model preventing platoon decoupling in a mixed traffic environment[J/OL]. Journal of Intelligent Transportation Systems, 2022 (2022-11-16). https://doi.org/10.1080/15472450.2022.2119386.
[57] DASGUPTA S, RAGHURAMAN V, CHOUDHURY A, et al. Merging and splitting maneuver of platoons by means of a novel PID controller[C/OL]//IEEE Symposium Series on Computational Intelligence. New York: IEEE, 2017 (2018-02-05). https://ieeexplore.ieee.org/abstract/document/8280871.
[58] LESCH V, BREITBACH M, SEGATA M, et al. An overview on approaches for coordination of platoons[J]. IEEE Transactions on Intelligent Transportation Systems, 2022, 23(8): 10049-10065
[59] ZHAO C, LI L, LI J, et al. The impact of truck platoons on the traffic dynamics around off-ramp regions[J]. IEEE Access, 2021, 9: 57010-57019
[60] LI D, ZHU F, CHEN T, et al. COOR-PLT: a hierarchical control model for coordinating adaptive platoons of connected and autonomous vehicles at signal-free intersections based on deep reinforcement learning[J]. Transportation Research Part C, 2023, 146: 103933
[61] 高云峰, 席建伟, 孙科. 面向客货分离交叉口的网联货车队列车速引导与信号优先组合优化[J]. 交通运输系统工程与信息, 2023, 23(4): 88-101
GAO Yunfeng, XI Jianwei, SUN Ke. Joint optimization of speed guidance and signal priority control for connected autonomous truck platoon at intersections with car and truck separation[J]. Journal of Transportation Systems Engineering and Information Technology, 2023, 23(4): 88-101
[62] MARTINEZ-DIAZ M, AL-HADDAD C, SORIGUERA F, et al. Platooning of connected automated vehicles on freeways: a bird's eye view[J]. Transportation Research Procedia, 2021, 58: 479-486
[63] 岑晏青, 宋向辉, 王东柱, 等. 智慧高速公路技术体系构建[J]. 公路交通科技, 2020, 37(7): 111-121
CEN Yanqing, SONG Xianghui, WANG Dongzhu, et al. Establishment of technology system of smart expressway[J]. Journal of Highway and Transportation Research and Development, 2020, 37(7): 111-121
[64] 张晓彤, 王嘉诚, 何景涛, 等. 面向不确定性环境的自动驾驶运动规划: 机遇与挑战[J]. 模式识别与人工智能, 2023, 36(1): 1-21
ZHANG Xiaotong, WANG Jiacheng, HE Jingtao, et al. Motion planning uncertainty for autonomous driving: opportunities and challenges[J]. Pattern Recognition and Artificial Intelligence, 2023, 36(1): 1-21
[65] 李茜瑶, 牛树云, 车晓琳, 等. 自动驾驶车辆混入下的货车专用车道设置条件评价方法[J]. 公路交通科技, 2023, 40(6): 182-193
LI Xiyao, NIU Shuyun, CHE Xiaolin, et al. An evaluation method for setting condition of dedicated truck lane mixed with automatic vehicles[J]. Journal of Highway and Transportation Research and Development, 2023, 40(6): 182-193