Browsing by Author "Altay,I."

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Citation Count: 1
A cooperating autonomous road vehicle platform
(IFAC Secretariat, 2013) Emirler,M.T.; Uygan,I.M.C.; Altay,I.; Acar,O.U.; Keleş,T.; Güvenç,B.A.; Güvenç,L.
A cooperating autonomous vehicle platform is introduced in this paper for research work on automated path following and cooperative mobility. This platform is implemented on the autonomous research vehicle Okanom of Istanbul Okan University. The hardware and software components added to Okanom for cooperative autonomous driving are presented. The GPS/INS system implemented in Okanom for autonomous following of GPS waypoint trajectories is explained. The low level lateral and longitudinal controllers used in this platform are given and a robust parameter space lateral steering controller design is presented. A double lane change simulation using the experimentally validated model of Okanom is used to illustrate the effectiveness of the designed steering controller. Information on experimental work in progress and past experimental work are also presented. © IFAC.
Citation Count: 8
Lidar data analysis for time to headway determination in the DriveSafe project field tests
(2013) Altay,I.; Aksun Güvenç,B.; Güvenç,L.
The DriveSafe project was carried out by a consortium of university research centers and automotive OEMs in Turkey to reduce accidents caused by driver behavior. A huge amount of driving data was collected from 108 drivers who drove the instrumented DriveSafe vehicle in the same route of 25 km of urban and highway traffic in Istanbul. One of the sensors used in the DriveSafe vehicle was a forward-looking LIDAR. The data from the LIDAR is used here to determine and record the headway time characteristics of different drivers. This paper concentrates on the analysis of LIDAR data from the DriveSafe vehicle. A simple algorithm that only looks at the forward direction along a straight line is used first. Headway times based on this simple approach are presented for an example driver. A more accurate detection and tracking algorithm taken from the literature are presented later in the paper. Grid-based and point distance-based methods are presented first. Then, a detection and tracking algorithm based on the Kalman filter is presented. The results are demonstrated using experimental data. © 2013 İlker Altay et al.
Citation Count: 4
A simulation study of GPS/INS integration for use in ACC/CACC and HAD
(2013) Altay,I.; Guvenc,B.A.; Guvenc,L.
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. © 2013 IEEE.