Transfer functions with positive impulse response: Feedback controller design and application to cooperative adaptive cruise control

Download

10421297.pdf

Date

2021-9-7

Author

İşler, İbrahim Tayyip

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

400
views

44
downloads

Driver assistance systems are increasingly employed to replace human driver functionality. Cooperative adaptive cruise control (CACC) automates the longitudinal vehicle motion to support safe vehicle following using distance measurements and state information communicated among vehicles. A basic requirement when using CACC is to attenuate fluctuations along vehicle strings, which is captured by the formal condition of string stability. Hereby, different notions of string stability exist in the literature based on different operator norms. In this thesis, a string stability condition based on the L-infinity norm, denoted as strict L1 string stability is used. This condition can be fulfilled by designing a CACC feedback loop, where the input/output behavior of the CACC system has positive impulse response. Accordingly, the main contribution of this thesis is the development of sufficient conditions for achieving a positive impulse response. These conditions are then used to formulate an optimization problem, whose solution provides suitable controller parameters for ensuring strict L1 string stability. The practicability of the proposed method is validated by simulation experiments with realistic vehicle parameters. In addition, it is shown that the proposed method is robust to additional communication delay and actuator delay, which are generally encountered in real-life CACC systems.

Subject Keywords

Cooperative adaptive cruise control, String stability, Heterogeneous vehicle strings, Positive impulse response

URI

https://hdl.handle.net/11511/92239

Collections

Graduate School of Natural and Applied Sciences, Thesis

Suggestions

OpenMETU
Core

Comparison of cooperative adaptive cruise control methods in idealistic and realistic scenarios Aydın, Ahmed Buğra; Schmidt, Klaus Verner; Department of Electrical and Electronics Engineering (2021-9-10) Intelligent transportation systems (ITS) aim at improving the efficiency and safety of transportation. In dense traffic, vehicles are aggregated to vehicle strings that travel on the same lane, whereby it is desired to maintain a small but safe distance between the vehicles in order to ensure driving comfort and safety. Cooperative adaptive cruise control (CACC) is a technology that is developed to address this issue. Hereby, the condition of string stability is highly relevant since it ensures the attenuat...
String Stability Under Actuator Saturation on Straight Level Roads: Sufficient Conditions and Optimal Trajectory Generation Bingol, Hilal; Schmidt, Klaus Verner (2022-01-01) The heterogeneity of vehicles is an important factor when realizing cooperative adaptive cruise control (CACC) in practice. Specifically, it has to be considered that platoons generally consist of vehicles with both different dynamic properties and actuator limits on the engine and braking force, which is expected to have a negative impact on important properties such as string stability. Accordingly, the subject of this paper is the preservation of string stability for CACC in heterogeneous vehicle strings...
Characterization of Driver Neuromuscular Dynamics for Human-Automation Collaboration Design of Automated Vehicles Lv, Chen; Wang, Huaji; Cao, Dongpu; Zhao, Yifan; Auger, Daniel J.; Sullman, Mark; Matthias, Rebecca; Skrypchuk, Lee; Mouzakitis, Alexandros (Institute of Electrical and Electronics Engineers (IEEE), 2018-12-01) In order to design an advanced human-automation collaboration system for highly automated vehicles, research into the driver's neuromuscular dynamics is needed. In this paper, a dynamic model of drivers' neuromuscular interaction with a steering wheel is first established. The transfer function and the natural frequency of the systems are analyzed. In order to identify the key parameters of the driver-steering-wheel interacting system and investigate the system properties under different situations, experim...
Communication and coordination for urban intelligent transportation: architecture and algorithms Atagoziev, Maksat; Schmidt, Klaus Verner; Schmidt, Şenan Ece; Department of Electrical and Electronics Engineering (2022-2-10) In the scope of Intelligent Transportation Systems (ITS), the automation and coordination of connected and autonomous vehicle (CAV) lane changes (LCs) have a strong impact on driving safety and traffic throughput. Accordingly, this thesis develops algorithms for the coordination of CAV LCs that are then used for controlling the traffic at intersections. First, this thesis focuses on the coordination of LCs of a group of CAVs to minimize the time when all LCs are completed, while keeping small inter-vehicle ...
Contemporary automotive infotainment solutions to empower front-seat passengers Şen, Güzin; Şener Pedgley, Bahar; Jump, Mike (2018-06-01) Automotive infotainment systems have neglected front-seat passengers’ needs as they have not been the primary users of the car. Recently R&D efforts in academia and the automotive industry have been directed towards empowering front-seat passengers. Front-seat passengers can spend substantial time in the car accompanying the driver, but without having sufficient means to entertain themselves. This paper first briefly introduces the (front-seat) passenger-oriented studies in automotive user experience (UX) l...

Citation Formats

İ. T. İşler, “Transfer functions with positive impulse response: Feedback controller design and application to cooperative adaptive cruise control,” M.S. - Master of Science, Middle East Technical University, 2021.