Table 1 Vehicle parameters
From: Communication energy optimization of electric vehicle platoon on curved road
Typical platooning schemes | (a) | (b) | (c) |
|---|---|---|---|
Wheel base | 1 m | 1 m | 1 m |
Initial position (Leader) | \([9\ 1]^{T}\) m | \([6\ 1]^{T}\) m | \([14\ 1]^{T}\) m |
Initial orientation (Leader) | 0 rad | 0 rad | 0 rad |
Initial position (Follower 1) | \([5\ 1]^{T}\) m | \([3\ 1]^{T}\) m | \([11\ 1]^{T}\) m |
Initial orientation (Follower 1) | 0 rad | 0 rad | 0 rad |
Initial position (Follower 2) | \([2\ 1]^{T}\) m | \([1\ 1]^{T}\) m | \([6\ 1]^{T}\) m |
Initial orientation (Follower 2) | 0 rad | 0 rad | 0 rad |
Initial position (Follower 3) | \([0\ 1]^{T}\) m | \([0\ 1]^{T}\) m | \([0\ 1]^{T}\) m |
Initial orientation (Follower 3) | 0 rad | 0 rad | 0 rad |
Proportional gain K | 5 | 5 | 5 |
Desired distance S | 2 m | 2 m | 2 m |