Semi-physical model of a vehicle for platooning

The simplified one-wheel vehicle longitudinal model without any significant ripple of the acceleration of the car due to the rippled tractive force, is introduced in this paper. This model is suitable for implementation using a semi-physical vehicle model, which will be implemented by two coupled electric drives. In addition, the paper contains the design of a speed controller. The functionality of the presented vehicle model and the speed control loop has been verified by simulations.