Car and train platoon simulations

Abstract

Detailed simulations of car and train platoons are critical steps towards successful implementations of the platooning technologies. This paper developed a simulation method that can be used for both car and train platoon simulations. The method includes three main parts: (1) a scalable adaptive longitudinal space controller, (2) 2D multibody dynamics simulations that consider wheel-rail contact (Polach model), tyre-road contact (Magic Formula), suspensions and in-train forces, and (3) a scalable parallel computing method that processes the dynamics simulation of each individual vehicle (one car or one carriage) by using one independent computer core. Two case studies were conducted to simulate a 6-car platoon and a 3-train platoon on real-world road and track. The maximum space errors for the car platoon and the train platoon results were about 0.32 and 0.23 m, respectively. When the platoons were running at a steady speed, space errors were well controlled within ±0.05 m for both car and train platoons. Example dynamics results were presented including wheel-rail contact forces, tyre-road contact forces, and carbody vibrations. This information can be used to conduct a wide range of related studies such as passenger ride comfort and system damage assessments.