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Designing and Implementing a Model Vehicle Platoon with Longitudinal Control

Keskikangas, Axel and Sällberg, Gustav (2014)
Department of Automatic Control
Abstract
Decreasing fuel consumption and increasing road capacity are both desired in regards to heavy duty vehicles. One proposed way of doing this is by having vehicles travelling at close distances to reduce the air drag, and thereby reducing their fuel consumption. This thesis address the platooning problem on model-scale vehicles as they are a desirable demonstration platform since they can be driven indoors.

This thesis considers the implementation and evaluation of the longitudinal control of a model-scale vehicle platoon where Model Predictive Control is utilised. The concept of platooning on real full-size vehicles is briefly discussed and some of its benefits are described. The thesis then discusses and evaluates what sensors are... (More)
Decreasing fuel consumption and increasing road capacity are both desired in regards to heavy duty vehicles. One proposed way of doing this is by having vehicles travelling at close distances to reduce the air drag, and thereby reducing their fuel consumption. This thesis address the platooning problem on model-scale vehicles as they are a desirable demonstration platform since they can be driven indoors.

This thesis considers the implementation and evaluation of the longitudinal control of a model-scale vehicle platoon where Model Predictive Control is utilised. The concept of platooning on real full-size vehicles is briefly discussed and some of its benefits are described. The thesis then discusses and evaluates what sensors are necessary to equip the model vehicles with and how to implement them, in addition to a discussion and evaluation of inter-vehicular communication in an indoor environment is provided. Then, based on the available sensors, a heuristic feedback controller and a model-based controller is designed as distance controllers, as well as a feedback controller used for speed control, and then connected in a cascading structure. The two controllers are then evaluated in simulations based on different
scenarios and finally results from a working implementation on the model-scale vehicles are presented.

The end results from this thesis are a demonstration platform of two model-scale electrical vehicles as well as two different distance control algorithms both based on using the cruise control developed in the vehicles. (Less)
Please use this url to cite or link to this publication:
author
Keskikangas, Axel and Sällberg, Gustav
supervisor
organization
year
type
H3 - Professional qualifications (4 Years - )
subject
ISSN
0280-5316
other publication id
ISRN LUTFD2/TFRT--5933--SE
language
English
id
4317334
date added to LUP
2014-02-19 13:47:15
date last changed
2014-02-19 13:47:15
@misc{4317334,
  abstract     = {Decreasing fuel consumption and increasing road capacity are both desired in regards to heavy duty vehicles. One proposed way of doing this is by having vehicles travelling at close distances to reduce the air drag, and thereby reducing their fuel consumption. This thesis address the platooning problem on model-scale vehicles as they are a desirable demonstration platform since they can be driven indoors.

This thesis considers the implementation and evaluation of the longitudinal control of a model-scale vehicle platoon where Model Predictive Control is utilised. The concept of platooning on real full-size vehicles is briefly discussed and some of its benefits are described. The thesis then discusses and evaluates what sensors are necessary to equip the model vehicles with and how to implement them, in addition to a discussion and evaluation of inter-vehicular communication in an indoor environment is provided. Then, based on the available sensors, a heuristic feedback controller and a model-based controller is designed as distance controllers, as well as a feedback controller used for speed control, and then connected in a cascading structure. The two controllers are then evaluated in simulations based on different
scenarios and finally results from a working implementation on the model-scale vehicles are presented.

The end results from this thesis are a demonstration platform of two model-scale electrical vehicles as well as two different distance control algorithms both based on using the cruise control developed in the vehicles.},
  author       = {Keskikangas, Axel and Sällberg, Gustav},
  issn         = {0280-5316},
  language     = {eng},
  note         = {Student Paper},
  title        = {Designing and Implementing a Model Vehicle Platoon with Longitudinal Control},
  year         = {2014},
}