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Mekatronik Mühendisliği Bölümü Yayın Koleksiyonu

Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/255

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Browsing Mekatronik Mühendisliği Bölümü Yayın Koleksiyonu by Subject "Autonomous Vehicles"

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    Article
    Citation Count: Mohammed Ali Kahya, Ardam Haseeb; Schmidt, Klaus Werner (2017). "Clothoid-based Lane Change Trajectory Computation for Self-Driving Vehicles", Çankaya University Journal of Science and Engineering, Vol. 14, no. 2, pp. 152-179.
    Clothoid-based Lane Change Trajectory Computation for Self-Driving Vehicles
    (2017) Mohammed Ali Kahya, Ardam Haseeb; Schmidt, Klaus Werner
    The subject of this paper is the efficient computation of lane change trajectories for self-driving vehicles. The paper first identifies that a certain type of clothoid-based bi-elementary paths can be used to represent lane change trajectories for vehicles. It is further highlighted that the curvature of such trajectories must be adjusted to the driving situation in order to obtain feasible lane change trajectories. Accordingly, the paper establishes an analytical relation between the maximum admissible curvature of the lane change trajectory and the velocity profile during a lane change. Using this relation, the paper proposes an efficient Newton iteration for computing the parameters of bi-elementary paths for lane changes. The resulting lane change trajectories are as short as possible, while meeting the constraint on the maximum curvature. Simulation experiments for various driving situations show that the computed bi-elementary paths can be computed efficiently and constitute suitable lane change trajectories.
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    Book Part
    Citation Count: Schmidt, Klaus W., "Cooperative adaptive cruise control for vehicle following during lane changes", Ifac Papersonline, Vol.50, No.1, pp. 12582-12587, (2017).
    Cooperative adaptive cruise control for vehicle following during lane changes
    (Elsevier Science BV, 2017) Schmidt, Klaus Werner
    This paper addresses the longitudinal vehicle behavior before and during lane changes. Hereby, it is desired that the lane-changing vehicle simultaneously follows its predecessors on the lanes before and after the lane change. Specifically, the lane changing vehicle should keep a safe distance to the rearmost predecessor vehicle, while maintaining a small inter vehicle spacing and supporting driving comfort. To this end, the paper develops an extension of cooperative adaptive cruise control (CACC). Instead of following a single vehicle as in the classical realization of CACC, it is proposed to follow a virtual vehicle that is evaluated based on distance measurements and communicated state information from the predecessor vehicles. A simulation study demonstrates the practicability of the proposed method.
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    Article
    Citation Count: Atagoziyev, Maksat; Schmidt, Klaus W.; Schmidt, Ece G. (2016). "Lane Change Scheduling for Autonomous Vehicles", IFAC-PapersOnLine, Vol. 49, No. 3, pp. 61-66.
    Lane Change Scheduling for Autonomous Vehicles
    (2016) Atagoziyev, Maksat; Schmidt, Klaus W.; Schmidt, Ece G.
    The subject of this paper is the coordination of lane changes of autonomous vehicles on a two-lane road segment before reaching a given critical position. We first develop an algorithm that performs a lane change of a single vehicle in the shortest possible time. This algorithm is then applied iteratively in order to handle all lane changes required on the considered road segment while guaranteeing traffic safety. Various example scenarios illustrate the functionality of our algorithm.