An integrated V2X simulator with applications in vehicle platooning

One of the most exciting applications of V2X technologies, that is envisioned, is the platooning of a series of autonomous vehicles led by a manually driven vehicle. However, the realization of this application depends entirely on the efficacy of a platoon control algorithm and the communication channel amongst the platoon members. There are many different control algorithms that are being considered to maintain a constant distance/time Gap amongst the platoon members based on the speed and acceleration profile of the other vehicles in the platoon. However, before a particular control algorithm can be deployed, it needs to be thoroughly analysed to see if it can indeed produce the desired effect under all sorts of traffic conditions and with varying penetration rates of V2X technology. In addition, one would also need to collect data on data packet delivery rate and the amount of delay, using different platoon management protocols. This information can then be utilized as a feedback to fine tune both the protocol and the control algorithm itself. This work aims to provide a holistic platform which integrates three simulators VISSIM (Traffic Simulation), NS-3 (Network Simulation) and MATLAB (Platoon control algorithm) that allows testing control algorithm stability in the presence of realistic communication constraints. To illustrate the usability of this co-simulation framework, we have presented results on velocity tracking of leader by follower vehicles while maintaining a specified inter-vehicular gap, for a small platoon along with results on data packet delivery for larger platoons.