The vehicle platoon is a technology in which multiple vehicles runs in a short vehicle distance. When the velocity control algorithm is defined based on the vehicle following model, some model parameters should be determined. The aim of this study is to discuss the design of the model parameters. Three objective functions are defined by terms related to the velocity, the vehicle distance and so on. The parameters are defined by solving the optimization problem including the objective functions. Model 1, which emphasizes the velocity terms, tends to reduce the overshoot amount of velocity, but the reaction to the velocity change tends to be poor. Model 2, which emphasizes the vehicle distance, tends to react the velocity change sensitively and has a large overshoot amount. However, there is a tendency to quickly accommodate the vehicle distance. Model 3 tends to reduce vehicle distance quickly. Next, models are implemented in LEGO MindStorms EV3 and an actual machine experiment is conducted. The experimental results were similar to the results obtained by numerical simulation.
Design of Velocity Control Model in Robot Vehicle Platoon
2024-11-15
3185084 byte
Conference paper
Electronic Resource
English
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