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Vehicle Platoon Control with Multi-Configuration Ability

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In Procedia Computer Science CS, vol. 9, pp. 1503-1512, 2012.
Abstract:
Vehicle platoon approaches found in literature deal generally with column formations adapted to urban or highway transportation systems. This paper presents an approach in which each platoon vehicle follows a virtual vehicle, in order to cope with issues such as different platoon geometries. Those different types of formations can be encountered in a wide range of field such as the military or agriculture. A platoon formation is composed of a vehicle which assumes the platoon leader role (generally human driven) and other vehicles which play the follower role. A follower vehicle assigns a local leader role to one of the vehicles it perceives. The approach presented here bases on a predefined translation of position, by a follower vehicle, calculated from the perceived position of its local leader vehicle. This translation depends on the desired platoon geometry, expressed in terms of a predefined longitudinal and lateral distance of a follower vehicle relatively to its local leader position. Each vehicle is implemented as an agent which makes decisions depending only on its own perception.
Keywords:
Multi configurations, Platoon, virtual vehicle, reactive agents, simulation.
Publication Category:
International journal with reading committee
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