Cooperative Adaptive Cruise Control System for Autonomous Vehicles with Linear Quadratic Optimal Regulator and Feedforward Control Method
JOURNAL OF POLYTECHNIC-POLITEKNIK DERGISI, 2023 (ESCI)
- Publication Type: Article / Article
- Publication Date: 2023
- Doi Number: 10.2339/politeknik.1170311
- Journal Name: JOURNAL OF POLYTECHNIC-POLITEKNIK DERGISI
- Journal Indexes: Emerging Sources Citation Index (ESCI), TR DİZİN (ULAKBİM)
- Open Archive Collection: AVESIS Open Access Collection
- Istanbul University Affiliated: No
Abstract
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.. vehicles in the longitudinal direction between vehicles, where.. 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.