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Evaluation of string stability during highway platoon merge
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), Centre for Research on Embedded Systems (CERES).
Halmstad University, School of Information Technology, Halmstad Embedded and Intelligent Systems Research (EIS), CAISR - Center for Applied Intelligent Systems Research.
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Automated vehicles are considered to be the future solution to reduce

traffic congestion and to increase road safety. The Adaptive Cruise

Control (ACC) has been introduced as Advance Driver Assistance System

(ADAS) to improve road network utilization. However, complex

traffic situations are still resolved by human drivers. Vehicular communication

has been introduced to interconnect different nodes in

the transport system for example vehicles, infrastructure, and vulnerable

road users. Communication enables improved local awareness of

the road users and the potential to further improve the performance

is increased. In this study, a popular ACC algorithm, the notion of

string stability and the concept of Cooperative Adaptive Cruise Control

(CACC) are discussed. A new CACC algorithm is proposed focusing

on maintaining platoon string stability during different traffic

situations. The performance of the controller is compared with one

of the most accepted ACC algorithms. The proposed controller was

implemented in a real world cooperative highway merge scenario.

The collected data was presented and appraised under three different

evaluation criteria. The controller has shown low downstream

error propagation in simulation and in real world experiment it successfully

maintained string stability during highway platooning and

merging scenarios.

Place, publisher, year, edition, pages
2016.
National Category
Control Engineering Embedded Systems
Identifiers
URN: urn:nbn:se:hh:diva-32281OAI: oai:DiVA.org:hh-32281DiVA: diva2:1039654
Subject / course
Computer science and engineering
Supervisors
Examiners
Available from: 2016-10-25 Created: 2016-10-24 Last updated: 2016-10-25Bibliographically approved

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Centre for Research on Embedded Systems (CERES)CAISR - Center for Applied Intelligent Systems Research
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