Browsing by Author "Bingöl, Hilal"

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Citation - WoS: 0
Citation - Scopus: 0
Controller Design for CACC with Time-varying Communication Delays
(Ieee, 2023) Bingol, Hilal; Bingöl, Hilal; Soysal, Gokhan; Schmidt, Klaus Werner; 218795
Cooperative Adaptive Cruise Control (CACC) aims at the safe and comfortable travel of vehicles at short distances in the form of platoons. Hereby, it is generally desired to attenuate disturbances along vehicles in a platoon, which is captured by different string stability conditions. In this paper, we focus on L-infinity string stability. This condition ensures reducing the magnitude of the acceleration signal along the platoon, which helps to avoid actuator saturation and increases driving comfort. Since the performance of CACC is adversely affected by time-varying communication and actuator delays, we develop the first controller design method for L-infinity-string stability, combining the Lyapunov-Krasovskii method and our custom bisection algorithm. Simulation experiments demonstrate the effectiveness of our method.
Citation - WoS: 1
Eyleyici doyumu altında dizi kararlı kooperatif otomatik seyir kontrolü
(Pamukkale Univ, 2016) Bingöl, Hilal; Bingol, Hilal; Cankaya, Erkam; Schmıdt, Klaus Werner; Schmidt, Klaus Werner; 218795
Cooperative adaptive cruise control (CACC) enables safe vehicle following in dense traffic based on distance measurements and communicated data via vehicle-to-vehicle communication. Existing CACC designs achieve the essential property of string stability but are limited to linear vehicle models. In this paper, we show that string stability is preserved when using a nonlinear vehicle model if the input signal of the leader vehicle does not saturate.
Image-Based Remote Control Using FPGA
(2014) Bingöl, Hilal; Yengel, Emre; Başayar, Tuğba; Genç, Fatih; Yengel, Emre; 218795
String stability analysis of Cooperative Adaptive Cruise Control (CACC) with actuator saturation
(Çankaya Üniversitesi, 2017) Bingöl, Hilal
Intelligent transportation systems 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 the literature, this task is captured by the notion of string stability: fluctuations that are introduced by maneuvers of the leader vehicle should be attenuated by the follower vehicles. The literature provides various methods for achieving string stability under the assumption that the vehicles are modeled as linear systems. In this thesis, we study the case where vehicles are modeled as nonlinear systems and hence face actuation constraints as well as state constraints. Different methods are employed. First, a reachability analysis based on the level-set method determines the states that are reachable under limitations on the engine force of vehicles. It turns out in the thesis that, although the reachability analysis is the proper method to analytically address the problem of saturation, it is computationally not feasible due to the large state space of the vehicle model. As a remedy, a further analysis of the model is carried out for the special case of maneuvers. Based on the realistic assumption that the impulse response of the vehicle following model is positive, several sufficient conditions for the input signal of the leader vehicle are derived in order to preserve string stability under actuator saturation. The first set of condition is concerned with the computation of maximum/minimum input signal that generated based on optimal control solution. These maximum/minimum input signals depend on the initial velocity of the vehicle string. The second set of conditions allows computing suitable input signals of the leader vehicle analytically and is hence highly beneficial in practice. The obtained results are illustrated by extensive simulation experiments.
Citation - WoS: 1
Citation - Scopus: 2
Trajectory Generation for Vehicle Platoons with Input and State Constraints
(Ieee, 2020) Bingol, Hilal; Bingöl, Hilal; Schmidt, Klaus Werner
The motion of vehicle platoons depends on the motion of the platoon leader. The subject of this paper is the computation of minimum-time leader trajectories for velocity changes in platoons. In contrast to the current literature, input restriction is defined due to the fact that the engine power is within certain limits and condition restriction is defined for safe travelling. Applying cooperative adaptive cruise control, we ensure driving safety and comfort, and we account for practical limits on the input signal of all platoon vehicles. We show that suitable trajectories can be computed analytically and we illustrate our findings by a simulation study.