Doğrusal Karesel Regülatör ve İleri Beslemeli Kontrol Yöntemi ile Otonom Araçlar için Kooperatif Uyarlamalı Hız Kontrol Sistemi
Öz
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.
Anahtar Kelimeler
Doğrusal karesel regülatör kooperatif uyarlamalı hız kontrol ileri beslemeli kontrol otonom araç kontrol sistemleri
Kaynakça
- [1] Şahin, H., “Adaptif Hız Kontrol (AHK) Sistemindeki Mesafe Kontrol Sisteminin Sabit Mesafe Ve Sabit Zaman Yöntemleriyle Uygulamalı Olarak Karşılaştırılması”, Politeknik Dergisi, 20(1), 205-210, (2017).
- [2] Jiang R., Wu, Q. S., “The adaptive cruise control vehicles in the cellular automata model”, Physics Letters A, 359(2): 99-102, (2006).
- [3] He Y., Ciuffo B., Zhou Q., Makridis M., Mattas K., Li J.,..., Xu J., “Adaptive cruise control strategies implemented on experimental vehicles: A review”, IFAC-PapersOnLine, 52(5): 21-27, (2019).
- [4] Shladover S. E., Nowakowski C., Lu X. Y., Ferlis R., “Cooperative adaptive cruise control: Definitions and operating concepts”, Transportation Research Record, 2489(1): 145-152, (2015).
- [5] Güvenç L., Uygan I.M.C., Kahraman K., Karaahmetoglu R., Altay I., Sentürk M., ..., Efendioglu B., “Cooperative adaptive cruise control implementation of team mekar at the grand cooperative driving challenge”, IEEE Transactions on Intelligent Transportation Systems, 13(3): 1062-1074, (2012).
- [6] Emirler M.T., Güvenç L., Güvenç B. A., “Design and evaluation of robust cooperative adaptive cruise control systems in parameter space”, International Journal of Automotive Technology, 19(2): 359-367, (2018).
- [7] Geiger A., Lauer M., Moosmann F. , Ranft B., Rapp H., Stiller C., Ziegler J., “Team AnnieWAY's entry to the 2011 grand cooperative driving challenge”, IEEE Transactions on Intelligent Transportation Systems, 13(3): 1008-1017, (2012).
- [8] Weißmann A., Görges D., Lin X., “Energy-optimal adaptive cruise control combining model predictive control and dynamic programming”, Control Engineering Practice, 72: 125-137, (2018).
- [9] Prabhakar G., Selvaperumal S., Nedumal Pugazhenthi P., “Fuzzy PD plus I control-based adaptive cruise control system in simulation and real-time environment ”, IETE Journal of Research, 65(1): 69-79, (2019).
- [10] Mao J., Yang L., Hu Y., Liu K., Du J., “Research on Vehicle Adaptive Cruise Control Method Based on Fuzzy Model Predictive Control”, Machines, 9(8): 160, (2021).
- [11] Kim, S. “Design of the adaptive cruise control systems: An optimal control approach.” University of California, Berkeley, (2012).
- [12] 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, 15(4): 1527-1537, (2014).
- [13] Badnava, S., Meskin, N., Gastli, A., Al-Hitmi, M. A., Ghommam, J., Mesbah, M., Mnif, F., “Platoon transitional maneuver control system: A review”, IEEE Access, 9: 88327-88347, (2021).
- [14] Al-Jhayyish, A. M., Schmidt, K. W.. “Feedforward strategies for cooperative adaptive cruise control in heterogeneous vehicle strings”, IEEE Transactions on Intelligent Transportation Systems, 19(1), 113-122, (2018).
- [15] Ploeg J., Semsar-Kazerooni E., Lijster G., van de Wouw N., Nijmeijer H., “Graceful degradation of cooperative adaptive cruise control”, IEEE Transactions on Intelligent Transportation Systems, vol. 16(1), 488-497, (2015).
- [16] Gruyitch L. T., “Control of Linear Systems: Observability and Controllability of General Linear Systems”, CRC Press, (2018).
- [17] Ploeg, J., Shukla, D. P., Van De Wouw, N., Nijmeijer, H. “Controller synthesis for string stability of vehicle platoons”, IEEE Transactions on Intelligent Transportation Systems, 15(2), 854-865, (2014).
- [18] Swaroop, D., Hedrick, J. K. “String stability of interconnected systems”, IEEE transactions on automatic control, 41(3), 349-357, (1996).
- [19] Dey, K. C., Yan, L., Wang, X., Wang, Y., Shen, H., Chowdhury, M., ..., Soundararaj, V. “A review of communication, driver characteristics, and controls aspects of cooperative adaptive cruise control (CACC)”, IEEE Transactions on Intelligent Transportation Systems, 17(2), 491-509, (2015).
Cooperative Adaptive Cruise Control System for Autonomous Vehicles with Linear Quadratic Optimal Regulator and Feedforward Control Method
Öz
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.
Anahtar Kelimeler
Linear quadratic regulator cooperative adaptive cruise control feed-forward control autonomous vehicle control systems
Kaynakça
- [1] Şahin, H., “Adaptif Hız Kontrol (AHK) Sistemindeki Mesafe Kontrol Sisteminin Sabit Mesafe Ve Sabit Zaman Yöntemleriyle Uygulamalı Olarak Karşılaştırılması”, Politeknik Dergisi, 20(1), 205-210, (2017).
- [2] Jiang R., Wu, Q. S., “The adaptive cruise control vehicles in the cellular automata model”, Physics Letters A, 359(2): 99-102, (2006).
- [3] He Y., Ciuffo B., Zhou Q., Makridis M., Mattas K., Li J.,..., Xu J., “Adaptive cruise control strategies implemented on experimental vehicles: A review”, IFAC-PapersOnLine, 52(5): 21-27, (2019).
- [4] Shladover S. E., Nowakowski C., Lu X. Y., Ferlis R., “Cooperative adaptive cruise control: Definitions and operating concepts”, Transportation Research Record, 2489(1): 145-152, (2015).
- [5] Güvenç L., Uygan I.M.C., Kahraman K., Karaahmetoglu R., Altay I., Sentürk M., ..., Efendioglu B., “Cooperative adaptive cruise control implementation of team mekar at the grand cooperative driving challenge”, IEEE Transactions on Intelligent Transportation Systems, 13(3): 1062-1074, (2012).
- [6] Emirler M.T., Güvenç L., Güvenç B. A., “Design and evaluation of robust cooperative adaptive cruise control systems in parameter space”, International Journal of Automotive Technology, 19(2): 359-367, (2018).
- [7] Geiger A., Lauer M., Moosmann F. , Ranft B., Rapp H., Stiller C., Ziegler J., “Team AnnieWAY's entry to the 2011 grand cooperative driving challenge”, IEEE Transactions on Intelligent Transportation Systems, 13(3): 1008-1017, (2012).
- [8] Weißmann A., Görges D., Lin X., “Energy-optimal adaptive cruise control combining model predictive control and dynamic programming”, Control Engineering Practice, 72: 125-137, (2018).
- [9] Prabhakar G., Selvaperumal S., Nedumal Pugazhenthi P., “Fuzzy PD plus I control-based adaptive cruise control system in simulation and real-time environment ”, IETE Journal of Research, 65(1): 69-79, (2019).
- [10] Mao J., Yang L., Hu Y., Liu K., Du J., “Research on Vehicle Adaptive Cruise Control Method Based on Fuzzy Model Predictive Control”, Machines, 9(8): 160, (2021).
- [11] Kim, S. “Design of the adaptive cruise control systems: An optimal control approach.” University of California, Berkeley, (2012).
- [12] 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, 15(4): 1527-1537, (2014).
- [13] Badnava, S., Meskin, N., Gastli, A., Al-Hitmi, M. A., Ghommam, J., Mesbah, M., Mnif, F., “Platoon transitional maneuver control system: A review”, IEEE Access, 9: 88327-88347, (2021).
- [14] Al-Jhayyish, A. M., Schmidt, K. W.. “Feedforward strategies for cooperative adaptive cruise control in heterogeneous vehicle strings”, IEEE Transactions on Intelligent Transportation Systems, 19(1), 113-122, (2018).
- [15] Ploeg J., Semsar-Kazerooni E., Lijster G., van de Wouw N., Nijmeijer H., “Graceful degradation of cooperative adaptive cruise control”, IEEE Transactions on Intelligent Transportation Systems, vol. 16(1), 488-497, (2015).
- [16] Gruyitch L. T., “Control of Linear Systems: Observability and Controllability of General Linear Systems”, CRC Press, (2018).
- [17] Ploeg, J., Shukla, D. P., Van De Wouw, N., Nijmeijer, H. “Controller synthesis for string stability of vehicle platoons”, IEEE Transactions on Intelligent Transportation Systems, 15(2), 854-865, (2014).
- [18] Swaroop, D., Hedrick, J. K. “String stability of interconnected systems”, IEEE transactions on automatic control, 41(3), 349-357, (1996).
- [19] Dey, K. C., Yan, L., Wang, X., Wang, Y., Shen, H., Chowdhury, M., ..., Soundararaj, V. “A review of communication, driver characteristics, and controls aspects of cooperative adaptive cruise control (CACC)”, IEEE Transactions on Intelligent Transportation Systems, 17(2), 491-509, (2015).
Ayrıntılar
| Birincil Dil | Türkçe |
|---|---|
| Konular | Mühendislik |
| Bölüm | Araştırma Makalesi |
| Yazarlar | |
| Erken Görünüm Tarihi | 27 Mart 2024 |
| Yayımlanma Tarihi | |
| Gönderilme Tarihi | 4 Eylül 2022 |
| Yayımlandığı Sayı | Yıl 2024 ERKEN GÖRÜNÜM |
Kaynak Göster
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