Co-simulation framework for control, communication and traffic for vehicle platoons

Amr Ibrahim, Chetan Belagal Math, Dip Goswami, Twan Basten, Hong Li

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-review

10 Citations (Scopus)
206 Downloads (Pure)


Vehicle platooning has gained attention for its potential to achieve an increased road capacity and safety, and a higher fuel efficiency. Member vehicles of a platoon wirelessly communicate complying with industrial standards such as IEEE 802.11p. By exchanging information with other members via wireless communication, a platoon member computes its desired acceleration which is then passed on to the engine control system via in-vehicle network to physically realize the acceleration. This leads to a multi-layer control scheme. The upper-layer is influenced by the behavior of 802.11p communication and network congestion due to transmissions by other vehicles in the traffic. The lower-layer engine control loop communicates over the fast and reliable in-vehicle networks (e.g., FlexRay, Ethernet). Design of the overall system therefore depends on (i) the characteristics of 802.11p-based communication (ii) the nature of the traffic (iii) the control algorithms running at the two layers. We present a cosimulation framework consisting of Matlab (for the multi-layer control algorithms), ns-3 (for the 802.11p network) and SUMO (for the traffic behavior). The framework can be used to validate different platooning setups. As an illustrative case study, we consider a multi-layer control strategy where the upper-layer uses Model Predictive Control (MPC) at a rate in compliance with 802.11p and the lower-layer uses statefeedback control at a higher sampling rate in line with in-vehicle networking capabilities. The control strategy is evaluated considering various realistic traffic and network congestion scenarios.

Original languageEnglish
Title of host publicationProceedings - 21st Euromicro Conference on Digital System Design, DSD 2018
EditorsNikos Konofaos, Martin Novotny, Amund Skavhaug
Place of PublicationPiscataway
PublisherInstitute of Electrical and Electronics Engineers
Number of pages5
ISBN (Electronic)978-1-5386-7377-5
ISBN (Print)978-1-5386-7378-2
Publication statusPublished - 12 Oct 2018
Event21st Euromicro Conference on Digital System Design, DSD 2018 - Prague, Czech Republic
Duration: 29 Aug 201831 Aug 2018
Conference number: 21


Conference21st Euromicro Conference on Digital System Design, DSD 2018
Abbreviated titleDSD 2018
Country/TerritoryCzech Republic
Internet address


  • Multi-layer-control
  • Network-simulator
  • Traffic-simulator
  • V2V-communication
  • Vehicle-platoons


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