| COOPERATIVE CRUISE CONTROLLER FOR HOMOGENEOUS
AND HETEROGENEOUS VEHICLE PLATOON SYSTEM |
Ashraf Saleem, Ahmed Al Maashri
, Muna A. Al-Rahbi, Medhat Awadallah, Hadj Bourdoucen |
| Sultan Qaboos Unievrsity |
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| ABSTRACT |
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Autonomous cars have become a reality due to breakthroughs in technology enablers such as embedded
computing systems and artificial intelligence. Automated platooning, which can be employed in autonomous cars, allows
grouping of vehicles into platoons. Using this technology in highways brings forth a number of benefits such as improving
traffic throughput, increasing fuel efficiency, and reducing collisions. Towards that end, this paper proposes a cooperative
cruise controller for both homogeneous and heterogeneous vehicle platoon systems. The controller consists of two control
layers; namely, platoon supervisory control layer and cruise control layer. The developed controller was validated and
evaluated through an intensive set of simulation scenarios. The results show that the controller outperforms other contenders
by 40 % in improving the road capacity. In addition, the results indicate that the controller is capable of handling different
traffic scenarios (i.e. homogeneous vs. heterogeneous vehicle platoons) as well as being fault-tolerant to disruptions such as
loss of communication between vehicles. |
| Key Words:
Vehicle platooning, Autonomous driving, Intelligent transportation systems, Vehicle-to-vehicle |
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Corresponding Author.
Ahmed Al Maashri , Email. 
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