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Optimal Truck Platoon Gap Control to Facilitate Multiple Vehicle Overtaking on Two-Lane Highways
Freyre, Raul Neupane, Kiran Song, Yu (Fred) Dhimal, Ramesh
Freyre, Raul
Neupane, Kiran
Song, Yu (Fred)
Dhimal, Ramesh
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Abstract
Truck platooning on two-lane highways introduces overtaking challenges for human-driven vehicles due to limited passing sight distances and tightly spaced connected trucks. This paper develops a cooperative gap control framework that enables multiple vehicles to safely overtake a three-truck platoon in the presence of opposing traffic. The framework includes two overtaking assistance strategies, local and global, both relying on trajectory prediction, gap indexing, and dynamic control. The local strategy reacts to immediate opposing gaps, enabling segmented overtaking through temporary intra-platoon accommodation. In contrast, the global strategy evaluates multiple future gaps to coordinate a single-stage overtaking maneuver with minimal disruption. A simulation-based evaluation compares the two strategies by optimizing a cost function that balances control effort and platoon reconfiguration penalties. Results show that while the local strategy performs well under simple conditions, it is prone to higher tracking errors in complex scenarios. The global strategy demonstrates greater consistency and robustness by anticipating traffic conditions and minimizing intra-platoon adjustments. The study highlights the importance of predictive, cooperative control in supporting safe and efficient multi-vehicle overtaking on rural highways and offers a foundation for future extensions incorporating stochasticity, sensor uncertainty, and mixed traffic environments.
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Date
2025-07-31
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Publisher
University of Wyoming Libraries
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Keywords
Multi Vehicle Overtaking,Highway Safety,Cooperative Control,Connected Vehicles,Automated Vehicles,Adaptive Cruise Control,Traffic Flow Optimization,Trajectory Prediction,Intelligent Transportation Systems,Surrogate Safety,Truck Platooning
Citation
Freyre, R., Neupane, K., Dhimal, R., & Song, Y. (2026). Optimal Truck Platoon Gap Control to Facilitate Multiple Vehicle Overtaking on Two-Lane Highways. Transportation Research Board (TRB) 105th Annual Meeting
License
Attribution 4.0 International