{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,22]],"date-time":"2025-12-22T14:57:15Z","timestamp":1766415435539,"version":"3.41.0"},"reference-count":51,"publisher":"Association for Computing Machinery (ACM)","issue":"1","license":[{"start":{"date-parts":[[2019,11,2]],"date-time":"2019-11-02T00:00:00Z","timestamp":1572652800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.acm.org\/publications\/policies\/copyright_policy#Background"}],"funder":[{"name":"Swedish Strategic Research Foundation"},{"DOI":"10.13039\/501100004359","name":"Swedish Research Council","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100004359","id-type":"DOI","asserted-by":"crossref"}]},{"name":"COMPANION EU project"},{"DOI":"10.13039\/501100004063","name":"Knut and Alice Wallenberg Foundation","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100004063","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["dl.acm.org"],"crossmark-restriction":true},"short-container-title":["ACM Trans. Cyber-Phys. Syst."],"published-print":{"date-parts":[[2020,1,31]]},"abstract":"<jats:p>This article describes a system to facilitate dynamic en route formation of heavy-duty vehicle platoons with the goal of reducing fuel consumption. Safe vehicle platooning is a maturing technology that leverages modern sensor, control, and communication technology to automatically regulate the inter-vehicle distances. Truck platooning has been shown to reduce fuel consumption through slipstreaming by up to 10%; under realistic highway-driving conditions. To further benefit from this technology, a platoon coordinator is proposed, which interfaces with fleet management systems and suggests how platoons can be formed in a fuel-efficient manner over a large region. The coordinator frequently updates the plans to react to newly available information. This way, it requires a minimum of customization with respect to the logistic operations. We discuss the system architecture in detail and introduce important underlying methodological foundations. Plans are derived in computationally tractable stages optimizing fuel savings from platooning. The effectiveness of this approach is verified in a simulation study. It shows that the coordinated platooning system can improve over spontaneously occurring platooning even under the presence of disturbances. A real demonstrator has also been developed. We present data from an experiment in which three vehicles were coordinated to form a platoon on public highways under normal traffic conditions. It demonstrates the feasibility of coordinated en route platoon formation with current communication and on-board technology. Simulations and experiments support that the proposed system is technically feasible and a potential solution to the problem of using vehicle platooning in an operational context.<\/jats:p>","DOI":"10.1145\/3299110","type":"journal-article","created":{"date-parts":[[2019,11,4]],"date-time":"2019-11-04T14:04:16Z","timestamp":1572876256000},"page":"1-25","update-policy":"https:\/\/doi.org\/10.1145\/crossmark-policy","source":"Crossref","is-referenced-by-count":23,"title":["A Predictive Framework for Dynamic Heavy-Duty Vehicle Platoon Coordination"],"prefix":"10.1145","volume":"4","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-3248-0187","authenticated-orcid":false,"given":"Sebastian Van De","family":"Hoef","sequence":"first","affiliation":[{"name":"KTH Royal Institute of Technology, Stockholm, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jonas","family":"M\u00e5rtensson","sequence":"additional","affiliation":[{"name":"KTH Royal Institute of Technology, Stockholm, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dimos V.","family":"Dimarogonas","sequence":"additional","affiliation":[{"name":"KTH Royal Institute of Technology, Stockholm, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Karl Henrik","family":"Johansson","sequence":"additional","affiliation":[{"name":"KTH Royal Institute of Technology, Stockholm, Sweden"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"320","published-online":{"date-parts":[[2019,11,2]]},"reference":[{"key":"e_1_2_1_1_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.ejor.2012.05.028"},{"key":"e_1_2_1_2_1","first-page":"6","article-title":"Heavy-duty vehicle platooning towards sustainable freight transportation: A cooperative method to enhance safety and efficiency","volume":"35","author":"Alam Assad","year":"2015","journal-title":"IEEE Control Systems Magazine"},{"key":"e_1_2_1_3_1","doi-asserted-by":"publisher","DOI":"10.1080\/0144164042000206060"},{"key":"e_1_2_1_4_1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2015.2511446"},{"key":"e_1_2_1_5_1","unstructured":"David Bevly Chase Murray Alvin Lim Rod Turochy Richard Sesek Scott Smith Luke Humphreys etal 2017. Heavy Truck Cooperative Adaptive Cruise Control: Evaluation Testing and Stakeholder Engagement for Near Term Deployment: Phase Two Final Report. Technical Report. Auburn University.  David Bevly Chase Murray Alvin Lim Rod Turochy Richard Sesek Scott Smith Luke Humphreys et al. 2017. Heavy Truck Cooperative Adaptive Cruise Control: Evaluation Testing and Stakeholder Engagement for Near Term Deployment: Phase Two Final Report. Technical Report. Auburn University."},{"volume-title":"Planning of truck platoons: A literature review and directions for future research. Transportation Research Part B: Methodological 107 (Jan","year":"2017","author":"Bhoopalam Anirudh Kishore","key":"e_1_2_1_6_1"},{"key":"e_1_2_1_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/MIS.2014.41"},{"volume-title":"The identical-path truck platooning problem. 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