Browsing by Author "Bingol, Hilal"

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Citation - WoS: 0
Citation - Scopus: 0
Controller Design for CACC with Time-varying Communication Delays
(Ieee, 2023) Bingol, Hilal; Soysal, Gokhan; Schmidt, Klaus Werner; 218795; Mekatronik Mühendisliği
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: 2
Citation - Scopus: 2
String Stability Under Actuator Saturation on Straight Level Roads: Sufficient Conditions and Optimal Trajectory Generation
(Ieee-inst Electrical Electronics Engineers inc, 2022) Bingol, Hilal; Schmidt, Klaus Werner; 218795; Mekatronik Mühendisliği
The heterogeneity of vehicles is an important factor when realizing cooperative adaptive cruise control (CACC) in practice. Specifically, it has to be considered that platoons generally consist of vehicles with both different dynamic properties and actuator limits on the engine and braking force, which is expected to have a negative impact on important properties such as string stability. Accordingly, the subject of this paper is the preservation of string stability for CACC in heterogeneous vehicle strings with potential actuator saturation. To this end, the paper formulates a velocity-dependent force bound that enables the derivation of sufficient conditions for preserving string stability during velocity changes of heterogeneous platoons. These conditions are then used for the analytical computation of trajectories for time-optimal velocity changes. The formal results of the paper are supported by an illustrative simulation study.
Citation - WoS: 1
Citation - Scopus: 2
Trajectory Generation for Vehicle Platoons with Input and State Constraints
(Ieee, 2020) Bingol, Hilal; Schmidt, Klaus Werner; Mekatronik Mühendisliği
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.