This report discusses the issues investigated during the first phase of a project which focuses on the development of a simulation program which will allow the study of platoon dynamics in both nominal and emergency scenarios. Preliminary issues include collision detection between the vehicles within the platoon and determining the platoon's post-crash behavior. A two-dimensional vehicle has been developed to addresses these issues. The overall simulation program includes individual modules that supply control input force, aerodynamic drag force, and road-tire interaction forces. Simplified models of these forces have been used for the simulations. The structure of the computer simulation code allows the use of upgraded modules as more refined controllers and system models are constructed.

This report examines platoon behavior during non-nominal operations, most especially due to emergency braking. Three main topics are discussed: multiple-collision wave propagation effects for homogeneous platoons with and without lead vehicle information, intra-platoon collision behavior of non-homogeneous platoons during emergency operations, and a new control approach for platoon operations during vehicle exit/entry.

This is the final report of the research program “Compatibility of Vehicles Within a Platoon (MOU-156).” This research area is continuing under a different, contract and thus, although the work presented herein is complete unto itself, the overall research goals laid out at the beginning of the program will not be attained until the conclusion of the entire related research effort.

The material presented in this report provides a description of a simple dynamical model that can be used for determining the physical interaction of vehicles in a collision scenario. Such a model is of use in platoon simulations for which vehicle-to-vehicle impacts occur. Due to the restricted amount of real world data, only a very basic model can reliably be presented.

A source of real world collision data is identified, and a procedure for determining model parameters to match the data is given. Model implementation issues are discussed, and the results of the completed model are presented.

The purpose of this report is to investigate the effect of selected parameter variations on the response of a platoon. The response of a platoon under different control algorithms is also examined. A four-car platoon with prescribed lead car dynamics was used for simulations and vehicles in the platoon were assumed to be identical. Convergence studies of the numerical integration were undertaken and convergence was verified. The purpose of these simulations was to build a knowledge base with regard to nonlinear platoon responses, to be used as an initial guide in developing simpler analytical models and to aid in identifying those parameters that most significantly affect platooning operations.

A comprehensive simulation capability is presented for the analysis of vehicular platoons with or without collisions. A separate collision module (CDM) is integrated within the Platoon Simulation Package (PSP) to allow the recognition and dynamic simulation of intra- platoon collisions. Test simulations are presented and an alternative control strategy, one based on H , optimization, is described. This control approach allows an explicit account to be taken unknown disturbances and system variations, i.e. it produces a robust design.

The purpose of this report is to document the development of a platoon collision model which can be used to study platoon collision dynamics under emergency situations. Based on previous studies, the vehicle model within the platoon is implemented with two bumpers which are developed to meet the realistic performance of a real bumper. Four control algorithms have been utilized to carry out the simulations.

The purpose of this three-year project is to develop an operational model of vehicle platoon dynamics under emergency conditions and to evaluate the platoon's dynamical behavior under non-nominal, or emergency, conditions. New platoon protocols and/or controller modifications will be formulated after analyzing the platoon response data in order to minimize damage to the platoon and the vehicles' occupants. This progress report discusses the results of the modeling phase of this work. A detailed literature review is included as Appendix B.