Modeling and simulation of leader-follower autonomous vehicles: environment effects

Sridhar Lakshmanan; Yuedong Yan; Stan Baek; Hesham Alghodhaifi

doi:10.1117/12.2520485

15 May 2019 Modeling and simulation of leader-follower autonomous vehicles: environment effects

Sridhar Lakshmanan, Yuedong Yan, Stan Baek, Hesham Alghodhaifi

Proceedings Volume 11021, Unmanned Systems Technology XXI; 110210J (2019) https://doi.org/10.1117/12.2520485
Event: SPIE Defense + Commercial Sensing, 2019, Baltimore, MD, United States

Abstract

In this paper, we present results obtained through simulation of connected-autonomous semi-trucks that are operating in a leader-follower configuration. Autonomy is enabled in this configuration with a very lean sensor package on each truck, precision global positioning system (GPS), radar-based automated cruise control system (ACC), and dedicated short-range vehicle-to-vehicle communication system (DSRC). Our simulation includes modeling the operating environment, namely, the high-speed test track at the American Center for Mobility (ACM); the sensors, namely, GPS, ACC, and DSRC; and vehicle dynamics of semi-trucks. Simulation results in this paper are focused on measuring the safety margin of the follower semi-truck under different environmental conditions. We studied adverse weather and measured the decrease in safety margins with the increase in precipitation.

Conference Presentation

Citation Download Citation

Sridhar Lakshmanan, Yuedong Yan, Stan Baek, and Hesham Alghodhaifi "Modeling and simulation of leader-follower autonomous vehicles: environment effects", Proc. SPIE 11021, Unmanned Systems Technology XXI, 110210J (15 May 2019); https://doi.org/10.1117/12.2520485

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