Eyleyici doyumu altında dizi kararlı kooperatif otomatik seyir kontrolü

Yıl 2016, Cilt: 22 Sayı: 8, 636 - 642, 27.12.2016

Hilal Bingöl Erkam Çankaya Klaus Werner Schmidt

Öz

Kooperatif otomatik seyir
kontrolü (CACC), araçtan araca haberleşme yöntemiyle veri iletilmesini ve
uzaklık ölçümlerine göre yoğun trafikte güvenilir araç takibinin yapılmasını
sağlar. Kullanılan CACC dizaynları dizi kararlılığının temel özelliklerini
sorunsuz bir şekilde yerine getirirken doğrusal araç modelleri için sınırlıdır.
Bu makalede ise, doğrusal olmayan araç modeli kullanıldığında ve lider araca
uygulanan giriş sinyali doyuma uğramadığında dizi kararlılığının korunabildiği
gösterilmiştir.

Anahtar Kelimeler

Akıllı ulaşım sistemleri, Kooperatif otomatik seyir kontrolü, Dizi kararlılığı

String stable cooperative adaptive cruise control under actuator saturation

Öz

Cooperative
adaptive cruise control (CACC) enables safe vehicle following in dense traffic
based on distance measurements and communicated data via vehicle-to-vehicle communication. Existing CACC
designs achieve the essential property of string stability but are limited to linear vehicle models. In this paper, we show that string
stability is preserved when using a nonlinear vehicle model if the input signal
of the leader vehicle does not saturate.

Anahtar Kelimeler

Intelligent transportation systems, Cooperative adaptive cruise control, String stability

Kaynakça

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