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Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy

Yıl 2024, Cilt: 8 Sayı: 3, 397 - 403, 30.09.2024
https://doi.org/10.30939/ijastech..1469674

Öz

Traffic congestion is becoming more prevalent as the number of vehicles on the roads continues to rise.To shorten travel times and enhance driver comfort, a range of Advanced Driver Assistance Systems (ADAS) has been developed to assist drivers in urban areas and on highways. The demand for increasing road capacity has introduced the concept of vehicle platooning, where the use of the Adaptive Cruise Control (ACC) system is a key function within the advanced driver assistance (ADAS) technology, this technology manages the vehicle's longitu-dinal control in specific driving conditions. Cars equipped with ACC can efficiently maintain a set distance from the vehicle ahead, easing the driver’s workload while offering advantages such as improved road capacity, lower fuel consumption, and reduced pollution emissions. However, they can be susceptible to string instability, resulting in the amplification of oscillations caused by speed variations along the platoon's rear. This paper presents a string stability analysis of car platoons equipped with ACC system based on a heuristic method by choosing of the constant time headway policy (CTHP). The constant time headway policy selection for string stability is based on the Nyquist diagram of the transfer function of the spacing errors between two cars. A platoon operated by using distance-based ACC control structures is implemented. These structures employ a linear quadratic regulator (LQR) using a dual integrator. The simulation results were acquired by modeling and simulating the studied platoon within Matlab/Simulink.

Kaynakça

  • [1] Vegamoor VK, Darbha S, Rajagopal KR. A review of auto-matic vehicle following systems. Journal of the Indian Insti-tute of Science. 2019; 99:567-587. https://doi.org/10.1007/s41745-019-00143-7
  • [2] Claussmann L, Revilloud M, Gruyer D, Glaser S. A review of motion planning for highway autonomous driving. IEEE Transactions on Intelligent Transportation Systems. 2019;21(5):1826-1848. https://doi.org/ 10.1109/TITS.2019.2913998
  • [3] Iancu DT, Mihai NA, GHITA SA, Florea AM. Trajectory Prediction Using Video Generation in Autonomous Driving. Studies in Informatics and Control. 2022;31(1):37-48. https://doi.org/10.24846/v31i1y202204
  • [4] Kabasakal B, Üçüncü M. The design and simulation of adaptive cruise control system. International Journal of Au-tomotive Science And Technology. 2022;6(3):242-256. https://doi.org/10.30939/ ijastech..1038371
  • [5] Iancu DT, Florea AM. An improved vehicle trajectory pre-diction model based on video generation. Studies in Infor-matics and Control. 2023;32(1):25-36. https://doi.org/10.24846/v32i1y202303
  • [6] Adıgüzel F. Doğrusal karesel regülatör ve ileri beslemeli kontrol yöntemi ile otonom araçlar için kooperatif uyar-lamalı hız kontrol sistemi. Politeknik Dergisi. 2023;27(2):3-12. https://doi.org/10.2339/politeknik.1170311
  • [7] Ma K, Wang H, Ruan T. Analysis of road capacity and pol-lutant emissions: Impacts of connected and automated vehi-cle platoons on traffic flow. Physica A: Statistical Mechanics and its Applications. 2021;583:126301. https://doi.org/ 10.1016/j.physa.2021.126301
  • [8] Guo G, Yuan WL. Bidirectional platoon control of Arduino cars with actuator saturation and time-varying delay. Journal of Control Engineering and Applied Informatics. 2017;19(1):37-48.
  • [9] Luu DL, Lupu C. Vehicle string using spacing strategies for cooperative adaptive cruise control system. UPB Sci. Bull., Series C. 2021;83(1):91-106.
  • [10] Swaroop DV. String stability of interconnected systems: An application to platooning in automated highway systems. University of California, Berkeley; 1994.
  • [11] Hu SG, Wen HY, Xu L, Fu H. Stability of platoon of adap-tive cruise control vehicles with time delay. Transportation Letters. 2019;11(9):506-515. https://doi.org/ 10.1080/19427867.2017.1407488
  • [12] Xiao L, Gao F. Practical string stability of platoon of adap-tive cruise control vehicles. IEEE Transactions on intelligent transporttion systems. 2011; 12(4):1184-1194. https://doi.org/ 10.1109/TITS.2011.2143407
  • [13] Tiganasu A, Lazar C, Caruntu CF, Dosoftei C. Comparative analysis of advanced cooperative adaptive cruise control al-gorithms for vehicular cyber physical systems. Journal of Control Engineering and Applied Informatics. 2021;23(1):82-92.
  • [14] Öncü S, Ploeg J, Van de Wouw N, Nijmeijer H. Cooperative adaptive cruise control: Network-aware analysis of string stability. IEEE Transactions on Intelligent Transportation Systems. 2014;15(4):1527-1537. https://doi.org/ 10.1109/TITS.2014.2302816
  • [15] Luu DL, Lupu C, Alshareefi H. A Comparative Study of Adaptive Cruise Control System based on Different Spacing Strategies. Journal of Control Engineering and Applied In-formatics. 2022;24(2):3-12.
  • [16] Guo XG, Wang JL, Liao F, Teo RS. String stability of heter-ogeneous leader-following vehicle platoons based on con-stant spacing policy. In2016 IEEE Intelligent Vehicles Sym-posium, 2016, pp. 761-766. https://doi.org/ 10.1109/IVS.2016.7535473
  • [17] Yuan H, Liu R, Zhong L, Zhang Y, Lin L, Huang K. Investi-gation on multi-objective following control algorithm for ve-hicle adaptive cruise control under cruise state. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2024;238(5):2-16. https://doi.org/ 10.1177/09544070241238298
  • [18] Gülden B, Emirler MT. Investigation of Different Communi-cation Topologies for Cooperative Adaptive Cruise Control Systems. International Journal of Automotive Science And Technology. 2024;8(1):150-158. https://doi.org/10.30939/ijastech..1368820
  • [19] Besselink B, Johansson KH. String stability and a delay-based spacing policy for vehicle platoons subject to disturb-ances. IEEE Transactions on Automatic Control. 2017;62(9):4376-4391. https://doi.org/ 10.1109/TAC.2017.2682421
  • [20] Hung NV, Luu DL, Dong NS, Lupu C. Reducing time head-way for cooperative vehicle following in platoon via infor-mation flow topology. Journal of Control Engineering and Applied Informatics. 2024;26(2):77-87. https://doi.org/ 10.61416/ceai.v26i2.8834
  • [21] Darbha S, Konduri S, Pagilla PR. Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information. IET Intelligent Transport Systems. 2020;14(6):589-600. https://doi.org/10.1049/iet-its.2019.0204
  • [22] Konduri S, Pagilla PR, Darbha S. Vehicle platooning with multiple vehicle look-ahead information. IFAC-PapersOnLine. 2017;50(1):5768-5773. https://doi.org/10.1016/j.ifacol.2017.08.415
  • [23] Ulsoy AG, Peng H, Çakmakci M. Automotive control sys-tems. Cambridge University Press; 2012.
  • [24] Ibrahim A, Goswami D, Li H, Soroa IM, Basten T. Multi-layer multi-rate model predictive control for vehicle platoon-ing under IEEE 802.11 p. Transportation Research Part C: Emerging Technologies. 2021;124:102905. https://doi.org/ 10.1016/j.trc.2020.102905
Yıl 2024, Cilt: 8 Sayı: 3, 397 - 403, 30.09.2024
https://doi.org/10.30939/ijastech..1469674

Öz

Kaynakça

  • [1] Vegamoor VK, Darbha S, Rajagopal KR. A review of auto-matic vehicle following systems. Journal of the Indian Insti-tute of Science. 2019; 99:567-587. https://doi.org/10.1007/s41745-019-00143-7
  • [2] Claussmann L, Revilloud M, Gruyer D, Glaser S. A review of motion planning for highway autonomous driving. IEEE Transactions on Intelligent Transportation Systems. 2019;21(5):1826-1848. https://doi.org/ 10.1109/TITS.2019.2913998
  • [3] Iancu DT, Mihai NA, GHITA SA, Florea AM. Trajectory Prediction Using Video Generation in Autonomous Driving. Studies in Informatics and Control. 2022;31(1):37-48. https://doi.org/10.24846/v31i1y202204
  • [4] Kabasakal B, Üçüncü M. The design and simulation of adaptive cruise control system. International Journal of Au-tomotive Science And Technology. 2022;6(3):242-256. https://doi.org/10.30939/ ijastech..1038371
  • [5] Iancu DT, Florea AM. An improved vehicle trajectory pre-diction model based on video generation. Studies in Infor-matics and Control. 2023;32(1):25-36. https://doi.org/10.24846/v32i1y202303
  • [6] Adıgüzel F. Doğrusal karesel regülatör ve ileri beslemeli kontrol yöntemi ile otonom araçlar için kooperatif uyar-lamalı hız kontrol sistemi. Politeknik Dergisi. 2023;27(2):3-12. https://doi.org/10.2339/politeknik.1170311
  • [7] Ma K, Wang H, Ruan T. Analysis of road capacity and pol-lutant emissions: Impacts of connected and automated vehi-cle platoons on traffic flow. Physica A: Statistical Mechanics and its Applications. 2021;583:126301. https://doi.org/ 10.1016/j.physa.2021.126301
  • [8] Guo G, Yuan WL. Bidirectional platoon control of Arduino cars with actuator saturation and time-varying delay. Journal of Control Engineering and Applied Informatics. 2017;19(1):37-48.
  • [9] Luu DL, Lupu C. Vehicle string using spacing strategies for cooperative adaptive cruise control system. UPB Sci. Bull., Series C. 2021;83(1):91-106.
  • [10] Swaroop DV. String stability of interconnected systems: An application to platooning in automated highway systems. University of California, Berkeley; 1994.
  • [11] Hu SG, Wen HY, Xu L, Fu H. Stability of platoon of adap-tive cruise control vehicles with time delay. Transportation Letters. 2019;11(9):506-515. https://doi.org/ 10.1080/19427867.2017.1407488
  • [12] Xiao L, Gao F. Practical string stability of platoon of adap-tive cruise control vehicles. IEEE Transactions on intelligent transporttion systems. 2011; 12(4):1184-1194. https://doi.org/ 10.1109/TITS.2011.2143407
  • [13] Tiganasu A, Lazar C, Caruntu CF, Dosoftei C. Comparative analysis of advanced cooperative adaptive cruise control al-gorithms for vehicular cyber physical systems. Journal of Control Engineering and Applied Informatics. 2021;23(1):82-92.
  • [14] Öncü S, Ploeg J, Van de Wouw N, Nijmeijer H. Cooperative adaptive cruise control: Network-aware analysis of string stability. IEEE Transactions on Intelligent Transportation Systems. 2014;15(4):1527-1537. https://doi.org/ 10.1109/TITS.2014.2302816
  • [15] Luu DL, Lupu C, Alshareefi H. A Comparative Study of Adaptive Cruise Control System based on Different Spacing Strategies. Journal of Control Engineering and Applied In-formatics. 2022;24(2):3-12.
  • [16] Guo XG, Wang JL, Liao F, Teo RS. String stability of heter-ogeneous leader-following vehicle platoons based on con-stant spacing policy. In2016 IEEE Intelligent Vehicles Sym-posium, 2016, pp. 761-766. https://doi.org/ 10.1109/IVS.2016.7535473
  • [17] Yuan H, Liu R, Zhong L, Zhang Y, Lin L, Huang K. Investi-gation on multi-objective following control algorithm for ve-hicle adaptive cruise control under cruise state. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering. 2024;238(5):2-16. https://doi.org/ 10.1177/09544070241238298
  • [18] Gülden B, Emirler MT. Investigation of Different Communi-cation Topologies for Cooperative Adaptive Cruise Control Systems. International Journal of Automotive Science And Technology. 2024;8(1):150-158. https://doi.org/10.30939/ijastech..1368820
  • [19] Besselink B, Johansson KH. String stability and a delay-based spacing policy for vehicle platoons subject to disturb-ances. IEEE Transactions on Automatic Control. 2017;62(9):4376-4391. https://doi.org/ 10.1109/TAC.2017.2682421
  • [20] Hung NV, Luu DL, Dong NS, Lupu C. Reducing time head-way for cooperative vehicle following in platoon via infor-mation flow topology. Journal of Control Engineering and Applied Informatics. 2024;26(2):77-87. https://doi.org/ 10.61416/ceai.v26i2.8834
  • [21] Darbha S, Konduri S, Pagilla PR. Vehicle platooning with constant spacing strategies and multiple vehicle look ahead information. IET Intelligent Transport Systems. 2020;14(6):589-600. https://doi.org/10.1049/iet-its.2019.0204
  • [22] Konduri S, Pagilla PR, Darbha S. Vehicle platooning with multiple vehicle look-ahead information. IFAC-PapersOnLine. 2017;50(1):5768-5773. https://doi.org/10.1016/j.ifacol.2017.08.415
  • [23] Ulsoy AG, Peng H, Çakmakci M. Automotive control sys-tems. Cambridge University Press; 2012.
  • [24] Ibrahim A, Goswami D, Li H, Soroa IM, Basten T. Multi-layer multi-rate model predictive control for vehicle platoon-ing under IEEE 802.11 p. Transportation Research Part C: Emerging Technologies. 2021;124:102905. https://doi.org/ 10.1016/j.trc.2020.102905
Toplam 24 adet kaynakça vardır.

Ayrıntılar

Birincil Dil İngilizce
Konular Otomotiv Mekatronik ve Otonom Sistemler
Bölüm Articles
Yazarlar

Lich Luu 0000-0001-5612-5126

Thanh Long Phan 0000-0002-1193-4242

Huu Truyen Pham 0000-0002-5401-2643

Thang Hoang 0000-0001-6367-0499

Minh-tien Le 0000-0001-8038-2464

Yayımlanma Tarihi 30 Eylül 2024
Gönderilme Tarihi 17 Nisan 2024
Kabul Tarihi 16 Temmuz 2024
Yayımlandığı Sayı Yıl 2024 Cilt: 8 Sayı: 3

Kaynak Göster

APA Luu, L., Phan, T. L., Pham, H. T., Hoang, T., vd. (2024). Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy. International Journal of Automotive Science And Technology, 8(3), 397-403. https://doi.org/10.30939/ijastech..1469674
AMA Luu L, Phan TL, Pham HT, Hoang T, Le Mt. Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy. ijastech. Eylül 2024;8(3):397-403. doi:10.30939/ijastech.1469674
Chicago Luu, Lich, Thanh Long Phan, Huu Truyen Pham, Thang Hoang, ve Minh-tien Le. “Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy”. International Journal of Automotive Science And Technology 8, sy. 3 (Eylül 2024): 397-403. https://doi.org/10.30939/ijastech. 1469674.
EndNote Luu L, Phan TL, Pham HT, Hoang T, Le M-t (01 Eylül 2024) Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy. International Journal of Automotive Science And Technology 8 3 397–403.
IEEE L. Luu, T. L. Phan, H. T. Pham, T. Hoang, ve M.-t. Le, “Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy”, ijastech, c. 8, sy. 3, ss. 397–403, 2024, doi: 10.30939/ijastech..1469674.
ISNAD Luu, Lich vd. “Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy”. International Journal of Automotive Science And Technology 8/3 (Eylül 2024), 397-403. https://doi.org/10.30939/ijastech. 1469674.
JAMA Luu L, Phan TL, Pham HT, Hoang T, Le M-t. Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy. ijastech. 2024;8:397–403.
MLA Luu, Lich vd. “Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy”. International Journal of Automotive Science And Technology, c. 8, sy. 3, 2024, ss. 397-03, doi:10.30939/ijastech. 1469674.
Vancouver Luu L, Phan TL, Pham HT, Hoang T, Le M-t. Stability of Adaptive Cruise Control of Automated Vehicle Platoon under Constant Time Headway Policy. ijastech. 2024;8(3):397-403.


International Journal of Automotive Science and Technology (IJASTECH) is published by Society of Automotive Engineers Turkey

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