Coordinated longitudinal–lateral control for truck platooning: Minimizing fuel consumption and NOx emissions

This paper develops a coordinated longitudinal–lateral control framework for truck platooning, leveraging real-world platooning data from Canada’s first commercial-oriented truck platooning trials to inform model development and simulation conditions. The longitudinal controller regulates inter-vehicle spacing while enhancing fuel savings and lowering tailpipe NO x emissions through smoothing speed profiles and reducing unnecessary engine fluctuations. The lateral controller maintains lateral safety and minimizes lateral offsets to preserve platooning fuel-saving benefits. A two-truck platoon is evaluated on a driving cycle incorporating measured wind and road grade. The designed system keeps spacing deviations and lateral offsets within desired ranges, and the follower truck achieves up to 6.6% fuel savings at regulation-compliant time gaps and reduces tailpipe NO x by up to 50.4% versus the field-trial baseline without longitudinal–lateral coordination.