EE 323 ProjectVehicle PlatooningSupervisor : Mr. Vincent LechappeShamal Singh S11109657

Touhuni Hasiata S11092378

Moape Kaloumaira S11089535

Seci Durivou s11098325

Project Objective

• To design a controller using Matlab/Simulink and run it on the Lego Mindstorms Robot Brick.

• To have the final design compete successfully with other groups also doing Vehicle Platooning Project in this course.

Presentation Contents• Introduction• What is Vehicle Platooning?• Matlab/Simulink Controller Used.• Result/Simulation.• Difficulties.• Recommendation.• Conclusion.• Reference.

Introduction

• Vehicle movement is a paramount safety concepts.• Concepts of Vehicle Platooning will ensure safe and

reliable movement of vehicle.• This project will manage Vehicle Platooning.• This project uses electronics coupling method to achieve

vehicle platooning.• This presentation will show a programmed control of

vehicle.

What is Vehicle Platooning???

• Vehicle Platooning is a method of grouping vehicles into platoons using mechanical or electronic coupling method.

• This method allows uniform movement of the vehicle arrangement by a controller

Matlab/Simulink Controller

• The Lego Mindstorms Robot NXT 2.0 Simulink toolbox was downloaded.

• It was interphase with the Lego Robot Brick.• Trial and error was carried out to find the best simulation

to achieve the required objective.• A distance of 0.12m was the chosen distance of spacing

between the Vehicle and the moving obstacles placed in front of the robot.

• Final simulated results were noted.

Difficulties!!!

• Finding proper Simulink toolbox that is compatible with the Lego Robot Brick.

• Existing Arduino program installed in the members personal Laptops had difficulties working with the downloaded Lego Mindstorms NXT 2.0 Matlab/Simulink toolbox.

Recommendation

• All PCs in Design Lab to be install Lego Mindstorms NXT 2.0 Matlab/Simulink toolbox.

Conclusion

• The Vehicle Platooning was successfully achieved using Matlab/Simulink controller on a Lego Robot Brick.

• Lego Robot Brick which is a programmable robotic kit was very efficient and realiable in achieving Vehicle Platooning.

Reference• 1) The SARTRE homepage: www.sartre-project.eu. Bergenhem, Q. Huang, A.

Benmimoun, T. Robinson, "Challenges of Platooning on Public Motorways," 17th World Congress on Intelligent Transport Systems, October 25-29, 2010, Busan, Korea. GCDC homepage: www.gcdc.net

• 2) S. Tsugawa, S. Kato, and K. Aoki: “An Automated Truck Platoon for Energy Saving,” IEEE/RSJ International Conference on Intelligent Robots and Systems 2011 (CD-ROM), 2011

• 3) KONVOI project: www.ika.rwth-aachen.de/pdf_eb/gb6-24e_konvoi• 4) C. Bergenhem, E. Hedin, D. Skarin, ”Vehicle-to-Vehicle Communication for a

Platooning System”, Transport Research Arena– Europe, 23-26 April, 2012, Athens.

Vinaka!!!!!!!

•Any Questions!!!!!!!!!