7,108 research outputs found
Path Following Control of Automated Vehicle Considering Uncertainties and Disturbances with Parametric Varying
Automated Vehicle Path Following Control (PFC) is an advanced control system
that can regulate the vehicle into a collision-free region in the presence of
other objects on the road. Common collision avoidance functions, such as
forward collision warning and automatic emergency braking, have recently been
developed and equipped on production vehicles. However, it is impossible to
develop a perfectly precise vehicle model when the vehicle is driving. Most
PFCs did not consider uncertainties in the vehicle model, external
disturbances, and parameter variations at the same time. To address the issues
associated with this important feature and function in autonomous driving, a
new vehicle PFC is proposed using a robust model predictive control (MPC)
design technique based on matrix inequality and the theoretical approach of the
hybrid switched system. The proposed methodology requires a combination of
continuous and discrete states, e.g. regulating the continuous states of the AV
(e.g., velocity and yaw angle) and discrete switching of the control strategy
that affects the dynamic behaviors of the AV under different driving speeds.
Firstly, considering bounded model uncertainties, and norm-bounded external
disturbances, the system states and control matrices are modified
Contingency Model Predictive Control for Automated Vehicles
We present Contingency Model Predictive Control (CMPC), a novel and
implementable control framework which tracks a desired path while
simultaneously maintaining a contingency plan -- an alternate trajectory to
avert an identified potential emergency. In this way, CMPC anticipates events
that might take place, instead of reacting when emergencies occur. We
accomplish this by adding an additional prediction horizon in parallel to the
classical receding MPC horizon. The contingency horizon is constrained to
maintain a feasible avoidance solution; as such, CMPC is selectively robust to
this emergency while tracking the desired path as closely as possible. After
defining the framework mathematically, we demonstrate its effectiveness
experimentally by comparing its performance to a state-of-the-art deterministic
MPC. The controllers drive an automated research platform through a left-hand
turn which may be covered by ice. Contingency MPC prepares for the potential
loss of friction by purposefully and intuitively deviating from the prescribed
path to approach the turn more conservatively; this deviation significantly
mitigates the consequence of encountering ice.Comment: American Control Conference, July 2019; 6 page
Control Strategies for Autonomous Vehicles
This chapter focuses on the self-driving technology from a control
perspective and investigates the control strategies used in autonomous vehicles
and advanced driver-assistance systems from both theoretical and practical
viewpoints. First, we introduce the self-driving technology as a whole,
including perception, planning and control techniques required for
accomplishing the challenging task of autonomous driving. We then dwell upon
each of these operations to explain their role in the autonomous system
architecture, with a prime focus on control strategies. The core portion of
this chapter commences with detailed mathematical modeling of autonomous
vehicles followed by a comprehensive discussion on control strategies. The
chapter covers longitudinal as well as lateral control strategies for
autonomous vehicles with coupled and de-coupled control schemes. We as well
discuss some of the machine learning techniques applied to autonomous vehicle
control task. Finally, we briefly summarize some of the research works that our
team has carried out at the Autonomous Systems Lab and conclude the chapter
with a few thoughtful remarks
A Systematic Survey of Control Techniques and Applications: From Autonomous Vehicles to Connected and Automated Vehicles
Vehicle control is one of the most critical challenges in autonomous vehicles
(AVs) and connected and automated vehicles (CAVs), and it is paramount in
vehicle safety, passenger comfort, transportation efficiency, and energy
saving. This survey attempts to provide a comprehensive and thorough overview
of the current state of vehicle control technology, focusing on the evolution
from vehicle state estimation and trajectory tracking control in AVs at the
microscopic level to collaborative control in CAVs at the macroscopic level.
First, this review starts with vehicle key state estimation, specifically
vehicle sideslip angle, which is the most pivotal state for vehicle trajectory
control, to discuss representative approaches. Then, we present symbolic
vehicle trajectory tracking control approaches for AVs. On top of that, we
further review the collaborative control frameworks for CAVs and corresponding
applications. Finally, this survey concludes with a discussion of future
research directions and the challenges. This survey aims to provide a
contextualized and in-depth look at state of the art in vehicle control for AVs
and CAVs, identifying critical areas of focus and pointing out the potential
areas for further exploration
PATH TRACKING FOR THE CONVOY OF AUTONOMOUS VEHICLES BASED ON A NON-LINEAR PREDICTIVE CONTROL
International audienceIn this paper, a nonlinear predictive control of a platoon of several vehicles is proposed by using non-linear robotic form model of the vehicles. The model used represents the longitudinal, lateral and yaw movement for each vehicle in the fleet. this control approach allows controlling the fleet, uses the available information, ensures a safe distance between vehicles to avoid collisions and follows the path of the leader. The robustness of the control will be studied in order to assess the different errors occurring in the estimated parameters values
Optimal torque vectoring control strategies for stabilisation of electric vehicles at the limits of handling
The study of chassis control has been a major research area in the automotive industry
and academia for more than fifty years now. Among the popular methods used to actively
control the dynamics of a vehicle, torque vectoring, the method of controlling both the
direction and the magnitude of the torque on the wheels, is of particular interest. Such a
method can alter the vehicle’s behaviour in a positive way under both sub-limit and limit
handling conditions and has become even more relevant in the case of an electric vehicle
equipped with multiple electric motors.
Torque vectoring has been so far employed mainly in lateral vehicle dynamics control
applications, with the longitudinal dynamics of the vehicle remaining under the full
authority of the driver. Nevertheless, it has been also recognised that active control of
the longitudinal dynamics of the vehicle can improve vehicle stability in limit handling
situations. A characteristic example of this is the case where the driver misjudges the
entry speed into a corner and the vehicle starts to deviate from its path, a situation commonly
referred to as a ‘terminal understeer’ condition. Use of combined longitudinal and
lateral control in such scenarios have been already proposed in the literature, but these
solutions are mainly based on heuristic approaches that also neglect the strong coupling
of longitudinal and lateral dynamics in limit handling situations.
The main aim of this project is to develop a real-time implementable multivariable
control strategy to stabilise the vehicle at the limits of handling in an optimal way using
torque vectoring via the two independently controlled electric motors on the rear axle of
an electric vehicle. To this end, after reviewing the most important contributions in the
control of lateral and/or longitudinal vehicle dynamics with a particular focus on the limit
handling solutions, a realistic vehicle reference behaviour near the limit of lateral acceleration
is derived. An unconstrained optimal control strategy is then developed for terminal
understeer mitigation. The importance of constraining both the vehicle state and the control
inputs when the vehicle operates at the limits of handling is shown by developing
a constrained linear optimal control framework, while the effect of using a constrained
nonlinear optimal control framework instead is subsequently examined next. Finally an
optimal estimation strategy for providing the necessary vehicle state information to the
proposed optimal control strategies is constructed, assuming that only common vehicle
sensors are available. All the developed optimal control strategies are assessed not only
in terms of performance but also execution time, so to make sure they are implementable
in real time on a typical Electronic Control Unit
Transportation Mission-Based Optimization of Heavy Combination Road Vehicles and Distributed Propulsion, Including Predictive Energy and Motion Control
This thesis proposes methodologies to improve heavy vehicle design by reducing the total cost of ownership and by increasing energy efficiency and safety.Environmental issues, consumers expectations and the growing demand for freight transport have created a competitive environment in providing better transportation solutions. In this thesis, it is proposed that freight vehicles can be designed in a more cost- and energy-efficient manner if they are customized for narrow ranges of operational domains and transportation use-cases. For this purpose, optimization-based methods were applied to minimize the total cost of ownership and to deliver customized vehicles with tailored propulsion components that best fit the given transportation missions and operational environment. Optimization-based design of the vehicle components was found to be effective due to the simultaneous consideration of the optimization of the transportation mission infrastructure, including charging stations, loading-unloading, routing and fleet composition and size, especially in case of electrified propulsion. Implementing integrated vehicle hardware-transportation optimization could reduce the total cost of ownership by up to 35% in the case of battery electric heavy vehicles. Furthermore, in this thesis, the impacts of two future technological advancements, i.e., heavy vehicle electrification and automation, on road freight transport were discussed. It was shown that automation helps the adoption of battery electric heavy vehicles in freight transport. Moreover, the optimizations and simulations produced a large quantity of data that can help users to select the best vehicle in terms of the size, propulsion system, and driving system for a given transportation assignment. The results of the optimizations revealed that battery electric and hybrid heavy combination vehicles exhibit the lowest total cost of ownership in certain transportation scenarios. In these vehicles, propulsion can be distributed over different axles of different units, thus the front units may be pushed by the rear units. Therefore, online optimal energy management strategies were proposed in this thesis to optimally control the vehicle motion and propulsion in terms of the minimum energy usage and lateral stability. These involved detailed multitrailer vehicle modeling and the design and solution of nonlinear optimal control problems
Shared control strategies for automated vehicles
188 p.Los vehículos automatizados (AVs) han surgido como una solución tecnológica para compensar las deficiencias de la conducción manual. Sin embargo, esta tecnología aún no está lo suficientemente madura para reemplazar completamente al conductor, ya que esto plantea problemas técnicos, sociales y legales. Sin embargo, los accidentes siguen ocurriendo y se necesitan nuevas soluciones tecnológicas para mejorar la seguridad vial. En este contexto, el enfoque de control compartido, en el que el conductor permanece en el bucle de control y, junto con la automatización, forma un equipo bien coordinado que colabora continuamente en los niveles táctico y de control de la tarea de conducción, es una solución prometedora para mejorar el rendimiento de la conducción manual aprovechando los últimos avances en tecnología de conducción automatizada. Esta estrategia tiene como objetivo promover el desarrollo de sistemas de asistencia al conductor más avanzados y con mayor grade de cooperatición en comparación con los disponibles en los vehículos comerciales. En este sentido, los vehículos automatizados serán los supervisores que necesitan los conductores, y no al revés. La presente tesis aborda en profundidad el tema del control compartido en vehículos automatizados, tanto desde una perspectiva teórica como práctica. En primer lugar, se proporciona una revisión exhaustiva del estado del arte para brindar una descripción general de los conceptos y aplicaciones en los que los investigadores han estado trabajando durante lasúltimas dos décadas. Luego, se adopta un enfoque práctico mediante el desarrollo de un controlador para ayudar al conductor en el control lateral del vehículo. Este controlador y su sistema de toma de decisiones asociado (Módulo de Arbitraje) se integrarán en el marco general de conducción automatizada y se validarán en una plataforma de simulación con conductores reales. Finalmente, el controlador desarrollado se aplica a dos sistemas. El primero para asistir a un conductor distraído y el otro en la implementación de una función de seguridad para realizar maniobras de adelantamiento en carreteras de doble sentido. Al finalizar, se presentan las conclusiones más relevantes y las perspectivas de investigación futuras para el control compartido en la conducción automatizada
AFTI/F-16 flight test results and lessons
The advanced fighter technology integration (AFTI) F-16 aircraft is a highly complex digital flight control system integrated with advanced avionics and cockpit. The use of dissimilar backup modes if the primary system fails requires the designer to trade off system simplicity and capability. The tradeoff is evident in the AFTI/F-16 aircraft with its limited stability and fly by wire digital flight control systems when a generic software failure occurs the backup or normal mode must provide equivalent envelop protection during the transition to degraded flight control. The complexity of systems like the AFTI/F-16 system defines a second design issue, which is divided into two segments: (1) the effect on testing, (2) and the pilot's ability to act correctly in the limited time available for cockpit decisions. The large matrix of states possible with the AFTI/F-16 flight control system illustrates the difficulty of both testing the system and choosing real time pilot actions. The third generic issue is the possible reductions in the user's reliability expectations where false single channel information can be displayed at the pilot vehicle interface while the redundant set remains functional
Vehicle agile maneuvering:From rally drivers to a finite state machine approach
Rally drivers can perform extreme maneuvers and keep a vehicle on track by maximizing the vehicle agility. It is remarkable that this is achieved robustly, without a vehicle or tire model in mind. In this study, the Moment Method Diagram and Beta Method representations are used to show the maximum achievable yaw moment generated by the front and rear tires. A new maneuverability map is proposed to bypass the limitations imposed by the steady-state assumptions, based on the wheel slip - yaw moment representation. Furthermore, a simple driving automation strategy is developed to determine the sequence of inputs required for maximizing vehicle agility and negotiating extreme maneuvers. A finite state machine is designed and implemented using a two track vehicle model. The numerical results show that the finite state machine can resemble a rally driver
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