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.Article Citation - WoS: 4Citation - Scopus: 4String 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 WernerThe 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.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.