Performance Evaluation of Vehicular Platoons using Webots
Ref: CISTER-TR-170510 Publication Date: 2017
Performance Evaluation of Vehicular Platoons using WebotsRef: CISTER-TR-170510 Publication Date: 2017
Safety of vehicular platoons remains a critical challenge that is still open for investi- gation. In this work we propose an accurate simulation model for vehicular platoons, taking into consideration the kinematics and dynamics aspects of the platoon and its physical constraints. A hybrid controller which is based on two different longitudinal and lateral PID controllers and two operation modes at the same time is developed and simulated using Webots. By this work, we aim to deeply study the performance of the platoon and reveal its weakness in real scenarios. The latter includes normal/degraded operating modes, different speeds, full brake scenarios and various Global Positioning System accuracy. Results show the efficiency of the platoon controller even in the pre-defined degraded mode.
Published in IET Intelligent Transport Systems, Institution of Engineering and Technology, Volume 11, Issue 8, pp 441-449.