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- 저자 : Aksun-Guvenc (검색결과 2 건)
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COLLISION AVOIDANCE OF LOW SPEED AUTONOMOUS SHUTTLES WITH PEDESTRIANS
Sukru Yaren Gelbal,Bilin Aksun-Guvenc,Levent Guvenc 한국자동차공학회 2020 International journal of automotive technology Vol.21 No.4
This paper is on a pedestrian collision avoidance system for low speed autonomous shuttles based on Vehicle-to-Pedestrian (V2P) communication. When pedestrians cannot be detected using line-of-sight sensors like camera, radar and LIDAR, V2P communication with the Dedicated Short Range Communication (DSRC) enabled pedestrian smartphone is used to detect and localize them through the in-vehicle DSRC radio used for Vehicle-to-Everything (V2X) communication. The vehicle, then, either stops or, if possible, goes around the pedestrian in a socially acceptable manner using the elastic band method for locally modifying the vehicle trajectory in real time. The elastic band method of collision avoidance is modified for fast real time execution in this paper. Along with model-in-the-loop simulations, a hardware-in-the-loop simulator using an automated driving vehicle model in the high fidelity vehicle dynamics simulation program Carsim Real Time with Sensors and Traffic with two DSRC modems emulating the vehicle and pedestrian communications is introduced and used in this paper as a prerequisite to real world experiments. Both stationary and moving pedestrians are considered in the model and hardware-in-the-loop simulations. Two real world experiments are also presented to demonstrate the V2P based avoidance of crashes between low speed autonomous shuttles and pedestrians.
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Wang Jiawei,Ma Fangwu,Yu Yang,Zhu Sheng,Gelbal Sukru Yaren,Aksun-Guvenc Bilin,Guvenc Levent 한국자동차공학회 2021 International journal of automotive technology Vol.22 No.3
This research presents a multi-vehicle control strategy combining the merging control and platoon control to deal with the merging scenario in the freeway ramp entrance. In the merging controller, a selection algorithm is presented firstly to determine the merging sequence based on the initial states of the vehicles in the cooperative area. Subsequently, the optimized longitudinal trajectory of the facilitating vehicle and on-ramp vehicle is addressed by solving the Hamiltonian function. As for the platoon controller, string stability is analyzed to attenuate the impact of merging on the mainline traffic, considering the influence of communication time delay. Smooth mode switching is achieved by introducing the tracking policy of platoon controller to determine the terminal states of the facilitating vehicle. The proposed strategy is simulated at two typical merging scenarios, where two on-ramp vehicles attempt to cut into a six-vehicular platoon, to validate its feasibility and advantage.
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