Modeling of Platooning Vehicles in Unity

2019-10-13T07:47:22Z

Mohamed: Created page with "{{StudentProjectTemplate |Summary=Unity visualization of communicated platooning vehicles under different situations |Keywords=Platooning, vehicle, simulator, C#, communicatio..."

{{StudentProjectTemplate
|Summary=Unity visualization of communicated platooning vehicles under different situations
|Keywords=Platooning, vehicle, simulator, C#, communication, Unity
|Prerequisites=Programming, vehicle dynamics, communication
|Supervisor=Alexey Vinel, Johan Thunberg
|Level=Master
}}
A platoon (or road train) is a collection of vehicles that cooperate to reach some common goal, such as traveling to a certain common destination. The platoon is led and coordinated by a lead vehicle, manually or automatically driven whereas following trucks are autonomous driven and mimicking the leader's motion. A challenge is a precise coordination in critical situations, e.g. when vehicles in the platoon perform an emergency brake. The overall motivation is to avoid collisions.
The simulator of platooning vehicles should be implemented in Unity which is a multi-platform game engine, mainly used to develop two- and three-dimensional games and simulations. A realistic model for each platooning vehicle as well as a communication framework for inter-vehicle (V2V) communication has to be implemented in the simulator. The safety of the platoon has to be achieved by adjusting inter-vehicles distances depending on the message loss probabilities within the platoon which are affected by environment conditions. It is interesting to understand the performance of different distance adjusting algorithms during emergency braking in terms of safety and stability.

Simulation of vehicle platoon braking

2019-09-30T14:14:41Z

Mohamed: Created page with "{{StudentProjectTemplate |Summary=Extension of a platooning simulator. |Keywords=Platooning, vehicle, simulator, java, communication, simulation measurement campaign |Referenc..."

{{StudentProjectTemplate
|Summary=Extension of a platooning simulator.
|Keywords=Platooning, vehicle, simulator, java, communication, simulation measurement campaign
|References=https://www.springerprofessional.de/en/quantitative-safety-analysis-of-a-coordinated-emergency-brake-pr/16239154
|Prerequisites=Programming, vehicle dynamics, communication
|Supervisor=Alexey Vinel, Magnus Jonsson,
|Author=Carl Bergenhem
}}
A platoon (or road train) is a collection of vehicles that cooperate to reach some common goal, such as travelling to a certain common destination. The platoon is led and coordinated by a lead vehicle, manually or automatically driven. Longitudinal and lateral control can be automated in the following vehicles. Some manoeuvres, such as driving with short intervehicle gaps and joining the platoon from the side, may imply that a human drive is not capable enough and control and coordination must hence be automated by the platoon. CACC is similar to platooning but may have less coordination between vehicles and also less degree of automation, e.g. it may lack lateral automation.
A challenge is coordination in a situation where a vehicle in the platoon performs an emergency brake. The overall motivation is to avoid collisions within the platoon while still performing braking as efficiently (i.e. as high retardation) as possible.
The simulator implements (in java) a model for each platoon vehicle as well as a communication framework for inter-vehicle (V2V) communication. The message loss model can be based on measured data or random loss. The platooning simulator is capable of simulating an N-vehicle platoon travelling in one dimension along a roadway. A scenario is controlled with simple inputs of: accelerate %, decelerate % and emergency brake. Scenario parameters are monitored to gather statistics of the outcome.
A key control algorithm in the platooning simulator is the longitudinal position controller. For this, an CACC algorithm is implemented to control the component of each vehicle. In the simulator there is a detailed model of vehicle braking. This includes a model of a brake-by-wire subsystem featuring: (i) global brake torque distribution to individual wheels, (ii) ABS functionality based on slippage detection, and (iii) a friction model for tyres based on slippage rate using common physical parameter values. Environment models in the simulator deal with air resistance and road friction.
Suggestion of contribution:
• Implementation of emergency brake strategy with different communication strategies. This should be realistic, in terms of what communication models are given by the assumed communication mode: e.g. ITS-G5 or 5G.
• We were interested to understand the performance of the algorithm, in combination with message packet loss, during emergency braking. The simulator allows different parameters such as message loss and headway to be modulated. E.g. studying achieved brake distance and probability of crash at a certain headway. To attain these values experimentally it is suitable to use a computing cluster.

CERES - User contributions [en]

Modeling of Platooning Vehicles in Unity

Simulation of vehicle platoon braking