Hilal Bingöl, Erkam Çankaya, Klaus Werner Schmidt

Eyleyici doyumu altında dizi kararlı kooperatif otomatik seyir kontrolü

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

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.

Keywords:

Intelligent transportation systems, Cooperative adaptive cruise control, String stability,

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