The role of autonomous cooperative vehicles will undoubtedly be important in Intelligent Transportation Systems (ITS) to increase both the safety and the overall efficiency of a high traffic network system. An autonomous platooning provides one promising strategy for decreasing total fuel consumption of a fleet of vehicles and potential risk of accidents, especially during long-distance transportation. In this work, we provide a proof-of-concept for a simulation framework in which it is possible to simulate platoon and other multi-vehicle systems using realistic vehicle models within different traffic scenarios, which is based on ROS, Gazebo and SUMO. The framework enables an easy-to-use perception and control modules of the autonomous driving stack for a realistic vehicle models, while preserving a convenient setup of different high traffic platooning scenarios. Consequently, it provides a platooning design step for conducting reliable development analyses and a platform for comparisons of different platooning strategies. We illustrate the effectiveness of the proposed platooning framework through three typical scenarios using a distributed model predictive control scheme with a platoon consisted of Toyota Prius car models.
Simulation Framework for Platooning based on Gazebo and SUMO
2020-11-01
1087749 byte
Conference paper
Electronic Resource
English
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