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Platoon control of autonomous vehicles

Control system design for platoon of autonomous vehicles

Problem Description

Each car in the platoon maintains the longitudinal distance with the vehicle in front and follows the trajectory (lateral control) of the leader vehicle.

img.png

Kinematic Model of the AV

img_1.png

Example Results

img_2.png

Features:

  1. Implements a hybrid controller between base leader and followers in a platoon of vehicles.
  2. Robustness of the controller is tested by adding various perturbation.
  3. Trajectory data collected from real-world vehicle data.
  4. Various constrollers explored: PID, Sliding mode controller and so on.

Requirements:

  1. MATLAB 2015 (or later)
  2. Simulink libraries

How to run:

  1. run: src/matlab/run_it.m
  2. run: src/simulink/Platoon_Local_new_2015a.slx or Platoon_Global_new_2015a.slx or Platoon_Hybrid_new_2015a.slx
  3. run: src/matlab/ResultsPlatoon.m

Acknowledgements

Project done in collaboration with Mr. Aman Sharma under the supervision of Prof. Philippe Martinet at Ecole Centrale de Nantes and LS2N.