Percorrer por autor "Wu, Naiqi"
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- Performance Evaluation of Vehicular Platoons using WebotsPublication . Karoui, Oussama; Guerfala, Emna; Koubâa, Anis; Khalgui, Mohamed; Tovar, Eduardo; Wu, Naiqi; Al-Ahmari, Abdulrahman; Li, ZhiwuSafety issue of vehicular platoons remains a critical challenge and is still open for investigation. In this study, the authors propose an accurate simulation model for vehicular platoons, taking into consideration of the kinematics and dynamics aspects of the platoon and its physical constraints. A hybrid controller formed by two different longitudinal and lateral proportional–integral–derivative controllers and two operation modes at the same time is developed and simulated using Webots. By this study, the aim is to deeply study the performance of the platoon and reveal its weakness in real scenarios. The latter includes normal/degraded operating modes, different speeds, full brake scenarios and various global positioning system accuracies. Results show the efficiency of the platoon controller even in the predefined degraded mode.
- System and method for operating a follower vehicle in a vehicle platoonPublication . Li, Zhiwu; Karoui, Oussama; Koubaa, Anis; Khalgui, Mohamed; Guerfala, Emna; Tovar, Eduardo; Wu, NaiqiA method for operating a follower vehicle in a vehicle platoon includes determining, during operation, whether the follower vehicle is operating in a normal state or an abnormal state based on an operation condition of a component of the follower vehicle, or a communication between the follower vehicle and a preceding vehicle in the vehicle platoon. The method further includes selecting a first control mode if the follower vehicle is in the normal state and a second control mode if the follower vehicle is in the abnormal state so as to control movement of the follower vehicle using the selected control mode. In the first control mode, the follower vehicle uses communication data received from the preceding vehicle in the vehicle platoon to control its movement. In the second control mode, the follower vehicle uses data obtained by one or more of its sensors to control its movement.