Design of platoon velocity based on multi-criteria optimization

The paper focuses on the design of the velocity of a platoon based on fuel consumption, road slopes, emissions and traveling time. Since the performance specifications are in contradiction, the design task leads to a multi-criteria optimization procedure. Moreover, the differences between the dynamics of the vehicles in the platoon should be taken into consideration. The goal of this paper is to develop an optimization method for the velocity of the platoon which creates a balance between the different performance factors. The design of the platoon control is based on the robust ℋ∞ control theory. The method is illustrated through simulation examples, which show that a balance between energy saving, the minimization of traveling time and emission can be obtained.