Araç platoon sistemlerinin farklı iletişim topolojileri altında analizi

Intelligent transportation systems have a bright future owing to the advancements in sensing, communication, and computing technologies. Vehicles are now equipped with Advanced Driving-Assistance Systems (ADAS) such as automated parking, collision avoidance, and Adaptive Cruise Control (ACC). In addition, they also have advanced communication systems that enable them to connect to other vehicles and external systems like the Road Side Units (RSUs). As a result, vehicle platoons are becoming increasingly popular in the automotive industry. A vehicle platoon is a group of vehicles that follow each other based on an information exchange structure. Vehicle platoon systems not only promote road safety and reduce traffic congestion, but they also help to improve fuel economy. This study explores the challenges and opportunities inherent in coordinating vehicle platoon systems under various information flow topologies. In this context, node dynamics, decentralized controllers, information flow topologies, and geometric formations are investigated. In the study, unidirectional and bidirectional information flow topologies under the spanning tree assumption are examined in detail. Furthermore, a linear P-controller and a nonlinear integral sliding mode controller are applied to a vehicle platoon system to understand the influence of the decentralized controllers. MATLAB software is utilized for testing various vehicle platoon system scenarios. The performance of the vehicle platoon system is assessed through stability analysis and convergence rate. Additionally, an analysis is conducted on an information flow topologies that lacks a spanning tree. Primary layer subgraph and secondary layer subgraph algorithms are used to understand the graph partition behavior of information flow topologies that do not include a spanning tree. It is shown that, in the case of no spanning tree, multiple platoons are formed.