چكيده به لاتين
In this thesis, a model of vehicle platoon has been simulated based on the sharing of the throttle of leader vehicle. To do this a complete model of vehicle is simulated. In the vehicle model the longitudinal dynamic equation are fully considered. The engine and gearbox are also presented in the full detail. Then, using the simulated vehicle model, a platoon is simulated by sending throttle information. The control of speed and distance are designed to control the movement of the platoon. In the design of the speed controller, a control system with high-level and low-level control is used. In the high-level control, using PD controller to the driving cycle input is converted to the desired acceleration. Then in low-level controller by using the longitudinal dynamic converted desired acceleration to the desired torque finally in the inverse engine map, desired torque converted into throttle input. Then by sending the throttle information of leader to the followers and using a speed controller and according to spacing policy, the timing of the throttle applied to each vehicle determines the safe distance for leader and follower vehicle. Then, with the design of three constant-speed, accelerating and decelerating test the controller’s performance was examined. By comparing the results, improving the stability of the platoon and reducing the distance error created after the change of speed, is 0.1 meters or in other words, 10 percent. Also, checking the robustness of the controller with disturbance and time delay, as well as increasing the number of vehicle, moving according to a specific driving cycle, changing the distance between
Vehicles and different vehicle has been evaluated.
