期刊名称：Balkan Journal of Electrical & Computer Engineering
印刷版ISSN：2147-284X
出版年度：2022
卷号：10
期号：1
页码：75-84
DOI：10.17694/bajece.1017623
语种：Turkish
出版社：Kirklareli University
摘要：The idea of autonomous vehicle platoons presents a variety of social, economic, and safety benefits to the transportation industry. However, implementing and deploying autonomous vehicle platoons is still a challenge. In this paper, we present a PID-based computationally cost-efficient controller to aid in the longitudinal control of the inter-vehicle distance between successive platoon members. The proposed approach is facilitated by inter-vehicle communication. The algorithm was implemented using the Robotics Operating System and Gazebo simulation environment. In order to evaluate the performance and applicability of the proposed approach, meticulous simulations under numerous scenarios were performed using 3D vehicle models so as to mimic the real world. The algorithm successfully maintains the longitudinal inter-vehicle distance within the desired range, ensures that no collisions occur among platoon members, and preserves the platoon formation.
关键词：automated highway systems;autonomous vehicle platoons;intelligent transport systems;longitudinal platoon control;autonomous vehicles
