Platoon Simulation of Vehicle Robots According to Vehicle following Model

Vehicle platoon is one of important techniques both for improving the traffic safety and for increasing the traffic network capacity. Vehicle platoon system allows vehicles to drive at the same velocity and to accelerate or brake simultaneously. In this study, we will present the velocity control algorithm of the vehicles in the vehicle platoon and then, apply it to the velocity control of the vehicles in the vehicle platoon of vehicle robots. Vehicle robot can observe the distance by the ultrasonic sensor and the velocity data through Bluetooth communication. The experimental result is compared with the numerical simulation in order to confirm the validity of the model. The experimental result agrees relatively well with the computer simulation. Keywords—Vehicle platoon, Multi-leader vehicles model, LEGO Mindstorm.