Abstract |
Driver-truck models for software-in-the-loop simulations
To provide a more adaptable test environment for the communication and
platooning coordination, an augmented reality with virtual vehicles
("Ghost trucks") with relevant communication abilities are
developed. In order to realise the virtual testing environment for
trucks, Scania initiated a project that could be divided into the
workload of three master theses. This thesis involved the part of
developing the virtual vehicles, which include the development of a
truck model and a driver model.
The developed truck model consists of a single track vehicle model and
several powertrain models of different complexity provided by
Scania. Additionally, the driver model consists of steering wheel and
speed controls in order to keep the truck on a safe distance from the
lead truck and stay on a preferred lane. The key feature of the
driver-truck model is its modular design, which provides great
flexibility in selecting the level of detail for each component. The
driver-truck model can be duplicated and simulated together in real
time and performs platooning with each other in a road system based on
the real world. As the driver-truck model is module based, it can
easily be extended for future purposes with more complex functions.
The driver-truck model is implemented in Simulink and the simulation
performance for different model complexity is evaluated. It is
demonstrated that the flexibility of the developed model allows a
balanced decision to be made between realistic truck behavior and
simulation speed. Furthermore, multi-truck simulations are performed
using the model, which demonstrate the effectiveness of the model in
the evaluation of truck platooning operations.
Oskar Daniels
2014


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