A scalable parallel computing method for autonomous platoons

Abstract

This paper developed a scalable parallel computing method that can be used for platoon simulations and controller validations. A scalable adaptive platooning control law was firstly designed, which accommodates a variety of vehicle-to-vehicle communication topologies. A road vehicle dynamics model that considered the Magic Formula tyre model and suspension dynamics was then derived and validated. The parallel computing method adopted the Message Passing Interface technique to allow fast and scalable simulations. Platoon length changes do not require controller and algorithm changes. An 11-vehicle platoon on a real-world 10 km long road section was simulated. Different localisation sensor errors, communication delays, heterogenous vehicle masses and driving modes were considered. Results show that localisation errors have negligible influences on space errors. Aggressive driving and heterogeneous vehicle masses slightly increase space errors (increases less than 0.23 m). Communication delays are the greatest influencer for space errors. Increases for 15, 45 and 75 ms delays were 0.43, 1.41 and 2.41 m, respectively. It is further shown that parallel computing can improve the computing speed by three times on personal computers and seven to 12 times on workstations.