Elektronik ve Haberleşme Mühendisliği Bölümü

Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/179

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Browsing Elektronik ve Haberleşme Mühendisliği Bölümü by Subject "Akıllı Ulaştırma Sistemleri"

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    Citation Count: Al-Jhyyish, Ahmed Mohammed Hamid (2016). Design and evaluation of cooperative adaptive cruise control (CAAC) for the improvement of highway traffic flow / Trafik akışını iyileştirmek için kooperatif otomatik seyir kontrolünde dizayn ve değerlendirme. Yayımlanmış yüksek lisans tezi. Ankara: Çankaya Üniversitesi, Fen Bilimleri Enstitüsü.
    Design and evaluation of cooperative adaptive cruise control (CAAC) for the improvement of highway traffic flow
    (2016) Al-Jhyyish, Ahmed Mohammed Hamid; Çankaya Üniversitesi, Fen Bilimleri Enstitüsü, Elektronik ve Haberleşme Mühendisliği Bölümü
    The subject of intelligent transportation systems (ITS) began to take worldwide attention in the last decade. One main purpose of deploying ITS is the improvement of traffic flow capacity on highways while ensuring safety. Cooperative Adaptive Cruise Control (CACC) is a method used to support the flow of road vehicles at a safe distance in the form of vehicle strings. In order to enable small inter-vehicle spacing, CACC is implemented on each vehicle by the use of vehicle distance measurements as well as information from other vehicles via vehicle-to-vehicle communication. An important goal of CACC is the achievement of string stability in order to attenuate fluctuations in the vehicle motion along vehicle strings. Hereby, CACC designs in the literature are lmited to the case of homogeneous vehicle strings, where all vehicles have identical dynamic properties. In the first part of this thesis, an original CACC H∞ controller design method is developed for the practical case of heterogeneous vehicle strings while achieving v string stability. The second part of this thesis considers the issue of delay in the CACC control design for platoons of vehicles. Several H∞ control design methods for time-delay systems are applied to address both communication and vehicle plant delay. For each method, a longitudinal controller for a platoon of vehicles is obtained which results in the achievement of string stability. In addition, a comparison of the different methods regarding the supported delay and inter-vehicle spacings is performed. The findings of the thesis are supported by representative simulation experiments. We note that, to the best of our knowledge, no research has considered the CACC design for heterogeneous vehicles and CACC design with delay.
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    Citation Count: DEAİBİL, İ. (2015). Platooning of vehicles in intelligent transportation systems. Yayımlanmamış yüksek lisans tezi. Ankara: Çankaya Üniversitesi Fen Bilimleri Enstitüsü.
    Platooning of vehicles in intelligent transportation systems
    (2015-05-11) Deaibil, İnas; Çankaya Üniversitesi, Fen Bilimleri Enstitüsü, Elektronik ve Haberleşme Mühendisliği Bölümü
    Intelligent transportation systems aim at improving the efficiency and safety of transportation. In dense traffic, vehicles are aggregated to vehicle strings that travel on thesame lane, whereby it is desired to maintain a small but safe distance between the vehicles. In the literature, this task is captured by the notion of string stability: fluctuations thatare introduced by maneuvers of the leader vehicle should be attenuated by the follower vehicles. The literature provides various methods for achieving string stability underthe assumption that a vehicle string is already formed and remains unchanged. Nevertheless, in practice, it is necessary to account for vehicles entering or leaving a platoon when performing lane changes. The subject of this thesis is the realization of longitudinal maneuvers for safe and efficient lane changes in dense vehicle traffic. Hereby, the tasks of tight vehicle following for a high traffic throughput and opening gaps for vehicles that want to enter a string have to be considered. Both tasks have to be achieved under the requirement of safety and without a negative effect on the traffic throughput. To this end, it is proposed a control architecture that addresses the stated issues. It combines the idea of cooperative adaptive cruise control (CACC) for safe vehicle following with feedforward control for opening or closing gaps that are generated if vehicles enter or leave a string. We first show that gaps can be opened/closed safely and smoothly with our method. That is, if string stability is obtained by the CACC design, it is preserved when using our feedforward control. Second, we propose a method to schedule maneuvers of different vehicles for opening gaps at a high traffic throughput. To the best of our knowledge this is the first work on the control and scheduling of safe and efficient lane changes