Lateral Control of Truck Platooning with RoadRunner Scenario

This session expands on “Vehicle Platooning Controller with V2V Communication,” presented at the 2022 MathWorks Automotive Conference, by adding a lateral control to follow a lane center of a curved road while maintaining a predefined space between vehicles in a platoon. The lateral control has been implemented using linearized truck-trailer lateral dynamics and model predictive control. The closed-loop control system includes vehicle-to-vehicle (V2V) communication and a high-fidelity 6-DOF vehicle dynamics model of a three-axle tractor towing a three-axle trailer. Using RoadRunner Scenario enables the creation of various test scenarios and cosimulation with the Simulink model implementing the platooning control.