Doğrusal Karesel Regülatör ve İleri Beslemeli Kontrol Yöntemi ile Otonom Araçlar için Kooperatif Uyarlamalı Hız Kontrol Sistemi

Year 2024, Volume: 27 Issue: 3, 975 - 984, 25.07.2024

Fatih Adıgüzel

https://doi.org/10.2339/politeknik.1170311

Cited By: 2

Abstract

Bu çalışmada, belli sayıda araç takımından oluşan uyarlamalı hız kontrol sistemlerinin kendiliğinden sürülmesi için doğrusal bir kontrolcü tasarımı ele alınmaktadır. Bunun yanında, uyarlamalı hız kontrol sisteminin performansının iyileştirilmesi için ileri beslemeli bir kontrolcü sunulmaktadır. Böylece kooperatif uyarlamalı hız kontrol sistemi elde edilmektedir. N, araç konvoyundaki araç sayısı olmak üzere, araçlar arasındaki uzunlamasına yönde matematiksel model N tane araç için elde edilmektedir. Sonrasında, doğrusal karesel optimal regülatör ve ileri beslemeli kontrol tasarımı ile araç konvoyunun hız kontrolü gerçekleştirilmektedir. Elde edilen kontrolcü sekiz araçlı bir konvoy için sayısal benzetim çalışmaları ve farklı hız yörünge profilleri ile test edilmektedir.

Keywords

Doğrusal karesel regülatör, kooperatif uyarlamalı hız kontrol, ileri beslemeli kontrol, otonom araç kontrol sistemleri

Cooperative Adaptive Cruise Control System for Autonomous Vehicles with Linear Quadratic Optimal Regulator and Feedforward Control Method

Abstract

This paper tackles the design of a linear controller for autonomous-driving adaptive cruise control systems consisting of platoons of vehicles in a given number. In addition to that, a feed-forward controller is presented in order to improve the performance of the adaptive cruise control system. The mathematical model is obtained for N vehicles in the longitudinal direction between vehicles, where N is the number of vehicles in the vehicle convoy. Afterward, the cruise control of the vehicle convoy is performed with the linear-quadratic optimal regulator and the feed-forward controller design. The devised controller has been tested with numerical simulation studies and different velocity trajectory profiles for an eight-vehicle convoy.

Keywords

Linear quadratic regulator, cooperative adaptive cruise control, feed-forward control, autonomous vehicle control systems

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