Stable and Sustainable Vehicle Integrated Control for Thick Platooning

Abstract

This paper deals with a leader-follower platoon, and uses multiple trucks. In a situation where trucks are configured with platooning, we are proposing a method to optimize the distance between the leader and the follower by integrating the CACC and the pure, pursuit-based longitudinal/lateral controller and a path system among the control systems. To optimize the distance in the truck platooning system, it uses the V2X communication module. To optimize the inter-vehicle spacing in the truck platooning system, information between trucks in the platooning was exchanged by using the V2X communication module, and inter-vehicle spacing was calculated. One of the platooning architecture steps is to design the platooning maintenance. Then, the performance of the designed integrated controller will be verified through simulation. It shows that platooning is maintained stably even on the road with a sharp radius of curvature. Finally, by using the MORAI simulator, a model, including a sustainable urban section and an outdoor section, is created in a Korean-style, autonomous driving experimental city(K-City) in Korea, while stable and sustainable platooning strategies are verified even in areas with a sharp radius of curvature. To evaluate the performance of the system, a driving test of the truck platooning was conducted. As a result, the proposed strategy on roads with a sharp radius of curvature and roundabout proved that sustainable platooning is possible.