Multi-Process Pool-Based Platoon Control Simulation Platform and Comparative Simulation Study for Platoon Controllers with Multi-Source Uncertainties

The existing platoon control simulation tests are mainly feasibility-oriented. Most simulation platforms are single process-based, which cannot fully leverage the capability of advanced processors and slow down statistical analysis with multi-source uncertainties. To improve the simulation efficiency and fill statistical simulation needs for uncertainty, this study builds a multi-process pool-based platoon control (MP-PCS) simulation platform. The proposed MP-PCS is composed of six modules, i.e., leading vehicle state generation, controlled CAV platoon establishment, perception error disturbance setting, controller and control error disturbance setting, control effect analysis, and multi-process scheduling. It supports various pre-inclined and self-defined scenarios, uncertainties, and controllers, and efficiently implements simulation tasks using parallel processes. Numerical experiments indicate the multi-process pool can significantly improve simulation efficiency. Comparative experiments on platoon controllers are conducted by platoon simulations with multi-source uncertainties, which demonstrate the applicability of this study.