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This paper studies the Platooning of heavy vehicles based on the Internet of Things. In this context, the term “Platoon” means that the cars move in groups together in a certain order and direction, led by one of their teammates. Platooning of heavy vehicles are very effective in reducing the pollution, the traffics and its consequent accidents, while increasing the road capacity. In the Internet of Things, vehicles can connect together over internet and share their position and other data that are necessary to control vehicles in group that is called V2V (Vehicle-to-Vehicle) communication. When vehicles controlled over internet of things, drivers can receive information such as road traffic, and traffic sings which is called V2I (Vehicle-to-Infrastructure) communication. In this paper, a novel resilient controller is designed to prevent cyber-attacks while it is robust against static/moving obstacles inside the group. At the end, the proposed theory is implemented on two real non-holonomic robots with three wheels. Moreover, a number of virtual robots are designed and implemented inside software-in-the-loop system to emulate the Platoon. The results confirmed the superiority of the proposed method.

Keywords: Platoon vehicle control, Interconnected cars, Cyberattacks in cars, Consensus controllers in cars, Prevent cars from colliding with obstacles in Platoon.

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