Scopus İndeksli Yayınlar Koleksiyonu
Permanent URI for this collectionhttps://hdl.handle.net/20.500.12416/8651
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Article Citation - WoS: 65Citation - Scopus: 70Feedforward Strategies for Cooperative Adaptive Cruise Control in Heterogeneous Vehicle Strings(Ieee-inst Electrical Electronics Engineers inc, 2018) Al-Jhayyish, Ahmed M. H.; Schmidt, Klaus WernerString stability is an essential property to ensure that the fluctuations are attenuated along vehicle strings. This paper focuses on the fulfillment of string stability in the practical case of heterogeneous vehicle strings that comprise vehicles with different dynamic properties. Using the idea of predecessor following, acceleration feedforward, predicted acceleration feedforward, and input signal feedforward are considered as different possible feedforward strategies. For all strategies, the parameter ranges of predecessor vehicles that ensure string stability of a given vehicle are characterized, computed, and validated by simulation.Conference Object Controller Design for Cacc With Time-Varying Communication Delays(Ieee, 2023) Soysal, Gokhan; Schmidt, Klaus Werner; Bingol, HilalCooperative 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.Conference Object Citation - WoS: 1Citation - Scopus: 2Trajectory Generation for Vehicle Platoons With Input and State Constraints(Ieee, 2020) Schmidt, Klaus Werner; Bingol, HilalThe 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.