Power Consumption Modeling of a System of Systems applied to a Platoon of Autonomous Vehicles

A system of systems (SoS) represents to a large-scale integrated system, in which many independent component systems (CSs) cooperate to complete a common mission. Modeling of such large-scale systems is challenging but important for their efficient operations. In the present work, a power consumption model is proposed for a SoS considering its hierarchical structure. The proposed algorithm is applied to a platoon of autonomous vehicles for power consumption estimation in the whole SoS of vehicles. The dynamic model of a physical CS i.e., autonomous vehicle is developed using an energy-based graphical modelling tool called bond graph. Further, the vehicle-to-vehicle (V2V) communication is also modelled using the same bond graph tool. Finally, the power is estimated for all vehicles in SoS using the bond graph dynamic models. The developed algorithm is verified through simulation for a platoon of three autonomous vehicles.