Platooning has been exploited as a method for vehicles to minimize energy consumption. In this article, we present a constraint-driven optimal control framework that yields emergent platooning behavior for connected and automated vehicles operating in an open transportation system. Our approach combines recent insights in constraint-driven optimal control with the physical aerodynamic interactions between vehicles in a highway setting. The result is a set of equations that describes when platooning is an appropriate strategy, as well as a descriptive optimal control law that yields emergent platooning behavior. Finally, we demonstrate these properties in simulation and with a real-time experiment in a scaled testbed.

翻译：在本条中,我们提出了一个限制驱动的最佳控制框架,使在开放运输系统中运行的连接和自动车辆产生紧急排队行为。我们的方法结合了最近在限制驱动最佳控制方面的见解和车辆在高速公路环境中的物理空气动力相互作用。结果形成一套方程式,描述排队是一种适当的战略,以及描述性最佳控制法,从而产生紧急排队行为。最后,我们在模拟中展示了这些特性,并在一个缩放试验台进行了实时试验。