A Real-time Multi-vehicle Simulator for Heterogeneous Platoons with an Initial Delay

摘要

This paper presents a real-time multi-vehicle simulator architecturernwith an initial delay. Detailed vehicle powertrainrnmodel is required to simulate the heterogeneous platoon,rnwhich is composed of several vehicles, each with differentrnvehicle dynamics. The process requirements are approximatelyrn20 % of a 300 MHz Pentium II based PC inrnthe basic simulation option. Considering the usual platoonrncon￡guration in which a platoon is composed of as manyrnas twenty vehicles, the simulator with a network con￡gurationrnis proposed in order to satisfy the real time simulationrnconstraint. It links several individual powertrain simulatorsrnvia the TCP/IP network. This network platoon simulator isrnalso linked to a server which graphically displays the multivehiclernplatoon operation. In this network con￡guration,rndue to a random delay in data transfer the simulation timernkernel is made to lag real time using a simple wait-and-gornalgorithm. However, in the platoon mode, all inputs andrndriving scenarios are generated before the start of simulation,rnand, therefore, after the initial delay, the simulationrnand displays step in real time. The network simulator canrnbe used to study the overall platoon operation and the stabilityrnissues, as well as to develop platoon controllers.