Implementação de manobras de reorganização de veículos em pelotão usando comunicações inter-veículares

Abstract

Through the passage of years, automation of cars towards diverse scenarios has been increasing. Nowadays, projects study the cars' performance as a part of a platoon formation, with main focus on their security, stability and consumption. This wave of evolution brought new communication technologies throughout the last 30 years as a response for the communicative issues present in platoon formations. In order to solve some of those problems, the concept of IVC was created and enabled the implementation and execution of several maneuvers with the exchange of messages between cars of the same formation and, if necessary, with cars external to it. The protocol implemented in this project uses IVC with the goal of maintaining the cars' stability and security while it reorganizes the platoon formation upon the leader exit. Throughout the document, it will be possible to see that this maneuver has the potential to become one important tool capable of maintaining the platoon intact, avoiding the vehicles separation and consequent congestion of the road. All this will be possible within approximately 1 minute and 15 seconds. Besides this, the impact of the CACC parameters variation on the cars' stability, velocity, acceleration and distance between them will be studied. At last, the variation of the bitrate in the communications will be evaluated, making it possible to understand that the standard value of 6 MBPs may not be the best regarding different scenarios. All these analyses will help realize that this protocol may be capable of responding with quality and a good performance, showing that it can be a great asset to the platooning world.