Browsing by Author "Uygan,I.M.C."

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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.
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    Article
    Citation Count: 33
    Robust PID steering control in parameter space for highly automated driving
    (2014) Emirler,M.T.; Uygan,I.M.C.; Aksun Güvenç,B.; Güvenç,L.
    This paper is on the design of a parameter space based robust PID steering controller. This controller is used for automated steering in automated path following of a midsized sedan. Linear and nonlinear models of this midsized sedan are presented in the paper. Experimental results are used to validate the longitudinal and lateral dynamic models of this vehicle. This paper is on automated steering control and concentrates on the lateral direction of motion. The linear model is used to design a PID steering controller in parameter space that satisfies D-stability. The PID steering controller that is designed is used in a simulation study to illustrate the effectiveness of the proposed method. Simulation results for a circular trajectory and for a curved trajectory are presented and discussed in detail. This study is part of a larger research effort aimed at implementing highly automated driving in a midsized sedan. © 2014 Mümin Tolga Emirler et al.