Browsing by Author "Altay, Ilker"

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Citation Count: 81
Cooperative Adaptive Cruise Control Implementation of Team Mekar at the Grand Cooperative Driving Challenge
(Ieee-inst Electrical Electronics Engineers inc, 2012) Guvenc, Levent; Uygan, Ismail Meric Can; Kahraman, Kerim; Karaahmetoglu, Raif; Altay, Ilker; Senturk, Mutlu; Efendioglu, Baris
This paper presents the cooperative adaptive cruise control implementation of Team Mekar at the Grand Cooperative Driving Challenge (GCDC). The Team Mekar vehicle used a dSpace microautobox for access to the vehicle controller area network bus and for control of the autonomous throttle intervention and the electric-motor-operated brake pedal. The vehicle was equipped with real-time kinematic Global Positioning System (RTK GPS) and an IEEE 802.11p modem installed in an onboard computer for vehicle-to-vehicle (V2V) communication. The Team Mekar vehicle did not have an original-equipment-manufacturers-supplied adaptive cruise control (ACC). ACC/Cooperative adaptive cruise control (CACC) based on V2V-communicated GPS position/velocity and preceding vehicle acceleration feedforward were implemented in the Team Mekar vehicle. This paper presents experimental and simulation results of the Team Mekar CACC implementation, along with a discussion of the problems encountered during the GCDC cooperative mobility runs.
Citation Count: 1
A Simulation Study of GPS/INS Integration for Use in ACC/CACC and HAD
(Ieee, 2013) Altay, Ilker; Aksun Guvenc, Bilin; Guvenc, Levent
Use of communicated GPS position and velocity information in adaptive cruise control and cooperative adaptive cruise control with the purpose of cooperative driving and the use of GPS position for automated path following in highly automated driving are two current research applications requiring fast and accurate GPS updates. Based on previous experience, a GPS/INS integration system is presented in this paper to allow faster updates as compared to the use of GPS only and to provide accurate position/velocity information in the presence of temporary losses of GPS fix. An INS algorithm and GPS/INS integration are presented in this paper in a realistic simulation setting. The aim is to analyze the effects of different sampling rates of sensors, errors, covariances and to use GPS/INS fusion to broadcast position data at a higher rate than GPS. The DCM method is used to estimate rotations in a inertial measurement unit. Drifts and biases are seen to be the main error sources. As a prerequisite before road testing with our experimental vehicle, GPS/INS is fused using the extended Kalman filter in a highly realistic simulation setting.