Abstract
Safety issue of vehicular platoons remains a critical challenge and is still open for investigation. In this study, the
authors propose an accurate simulation model for vehicular platoons, taking into consideration of the kinematics and dynamics
aspects of the platoon and its physical constraints. A hybrid controller formed by two different longitudinal and lateral
proportional–integral–derivative controllers and two operation modes at the same time is developed and simulated using
Webots. By this study, the aim is to deeply study the performance of the platoon and reveal its weakness in real scenarios. The
latter includes normal/degraded operating modes, different speeds, full brake scenarios and various global positioning system
accuracies. Results show the efficiency of the platoon controller even in the predefined degraded mode.
info:eu-repo/semantics/publishedVersion