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Civil-Comp Proceedings
ISSN 1759-3433
CCP: 105
Edited by: P. Iványi and B.H.V. Topping
Paper 83

Vehicle Platoon Simulation Based on a Multi-Leader Vehicle Following Model

E. Kita, K. Asahina and C. Ushida

Nagoya University, Japan

Full Bibliographic Reference for this paper
E. Kita, K. Asahina, C. Ushida, "Vehicle Platoon Simulation Based on a Multi-Leader Vehicle Following Model", in P. Iványi, B.H.V. Topping, (Editors), "Proceedings of the Ninth International Conference on Engineering Computational Technology", Civil-Comp Press, Stirlingshire, UK, Paper 83, 2014. doi:10.4203/ccp.105.83
Keywords: vehicle platoon, Chandler model, stability analysis, Lego Mindstorm.

The vehicle velocity control of the four-vehicles platoon is considered in this study. Each vehicle has one, two or three leader vehicles. The mathematical model of the vehicle control is defined by means of the multi-leader Chandler-type vehicle following model. In this model, the vehicle acceleration rate is controlled according to the difference of the velocities of the vehicle and its leader vehicles. Stability analysis of the model leads to the model parameters. The validity of the velocity control model is discussed in the platoon simulation of Lego Mindstorm.

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