Splitting and Merging of Platoons With the Help of PID Control

Sammanfattning: For an environmentally sustainable society thetransportation of goods must be optimized. The next step inmaking truck transportation more sustainable is platooning.Platooning is when vehicles drive close together in a line whichrequires implementation of a control system. The aim of thisproject is to tune and implement a stabilizing controller thatcan handle various scenarios. This paper proposes a PIDcontroller to solve the problem of achieving platooning. Using asimulation environment written in Python, the PID controlleris tuned for three specific scenarios; platooning, merging andsplitting. To obtain a smooth control signal setpoint weightingwas implemented. The results presented in the report show thatPID controller can create a stable platoon for the range oftested scenarios. However, these results are purely theoreticaland while promising, more tests must be done to determine ifthe results hold in practice.