Autonomous path following and emergency braking control for intelligent vehicles using low cost devices

Proceeding of: 15th International Symposium on Advanced Vehicle Control (AVEC '22), September 12-15, 2022, Kanagawa, JapanThe novelty of this paper is an Event-Triggered LPV Output-Feedback H∞ controller that generates a steering control signal to follow the road, an acoustic sensor based AEB-P system which avoids vehicle collision with pedestrians and a speed controller based on the curvature of the path. The validation of the proposed system is done through simulation tests with CarSim®This work was supported by the FEDER/Ministry of Science and Innovation - Agencia Estatal de Investigación (AEI) of the Government of Spain through the project [RTI2018-095143-B-C21]

Sensor fusion based on a Dual Kalman Filter for estimation of road irregularities and vehicle mass under static and dynamic conditions

Mass is an important parameter in vehicle dynamics because it affects not only safety but also comfort. The mass influences the three movements corresponding to vehicle dynamics. Therefore, having an accurate value of mass is essential for having a suitable model which will lead to proper controller and observer operation. Additionally, unlike other vehicle parameters, the mass can vary during a trip due to loading and unloading items and passengers onto the vehicle, greatly influencing its dynamics. This is critical in heavy vehicles where the mass can vary by around 400%. Therefore, the mass must be updated on-line. The novelty of this paper is the construction of a state-parameter observer which allows the mass under static and dynamic driving conditions to be estimated using measurements from sensors that can be mounted easily on vehicles. In this study, a vertical complete model is considered based on the dual Kalman filter for mass and road irregularities estimation using the data obtained from suspension deflection sensors and a vertical accelerometer. Both simulation and experimental results are carried out to prove the effectiveness of the proposed algorithm.This work was supported by Projects TRA2008-05373/AUT and TRA2013-48030-C2-1-R from the Spanish Ministry of Economy and Competitiveness

Study of van roadworthiness considering their maintenance and periodic inspection. The Spanish case

In Europe, traffic road safety has clearly improved due to many factors. One of them is the improvement of the roadworthiness. However, accidents of vans and light goods vehicles (LGV) have not followed the decreasing tendency of other vehicles. Several studies suggest that vehicle defects are relevant to the cause of accidents. It would be ideal if vehicle owners continuously kept their vehicles in compliance with the roadworthiness standards. Another important aspect to operate with roadworthy vans is the maintenance programs. It is probable that many van owners do not adequately maintain their vehicles or the maintenance programs are not sufficient with the periodic motor vehicle inspections (PMVI) intervals or with the items inspected. This paper analyses the maintenance schedules and PMVI of vans in order to assess the influence of these parameters in their higher accident rate. The conclusions provided can enable public administrations to modify enforcement laws, regarding time control of driving and PMVI.Proyecto financiado por el Ministerio de Fomento en el marco del Plan I+D+i 2008/2011: Desarrollo y aplicación de una metodología integrada para el estudio de los accidentes de tráfico con implicación de furgonetas (P24/08)”. FURGOSEG

A robust observer based on energy-to-peak filtering in combination withneural networks for parameter varying systems and its application to vehicleroll angle estimation

This paper presents a robust observer based on energy-to-peak filtering in combination with a neural network for vehicle roll angle estimation. Energy-to-peak filtering estimates the minimised error for any bounded energydisturbance. The neural network acts as a 'pseudo-sensor' to estimate a vehicle 'pseudo-roll angle', which is used as the input for the energy-to-peak-based observer. The advantages of the proposed observer are as follows. 1) Itdoes not require GPS information to be utilised in various environments. 2) It uses information obtained from sensors that are installed in current vehicles, such as accelerometers and rate sensors. 3) It reduces computationtime by avoiding the calculation of observer gain at each time sample and utilising a simplified vehicle model. 4) It considers the uncertainties in parameters of the vehicle model. 5) It reduces the effect of disturbances. Bothsimulation and experimental results demonstrate the effectiveness of the proposed observer.This work is supported by the Spanish Government through the Project TRA2013-48030-C2-1-R, which is gratefully acknowledged

A novel frequency dependent model based on trigonometric functions for a magnetorheological damper

In this paper, a novel frequency dependent MR damper model based on trigonometric functions is proposed. The model presents the following advantages in comparison with other previously proposed models: (1) it is based on algebraic functions instead of differential equations, so that it does not present convergence problems when noisy inputs from experimental measurements are used; (2) the number of parameters is reasonable, so that it makes the model computationally efficient in the context of parameter identification and (3) the model has to take into account the variation of the parameters as a function, not only of the applied current but also of the frequency of excitation. Experimental results confirm that the proposed frequency dependent MR damper model improves the accuracy of the model in force simulation.Funds provided by the Spanish Government through the CICYT Projects TRA2008-05373/AUT and TRA2011-28548-C02-0

A Novel Inverse Dynamic Model for a Magnetorheological Damper based on Network Inversion

Semi-active suspensions based on magnetorheological (MR) dampers are receiving significant attention specially for control of vibration isolation systems. The nonlinear hysteretic behaviour of MR dampers can cause serious problems in controlled systems such as instability and loss of robustness. Most of the developed controllers determine the desired damping forces which should be produced by the MR damper. Nevertheless, the MR damper behaviour can only be controlled in terms of the applied current (or voltage). In addition to this, it is necessary to develop an adequate inverse dynamic model in order to calculate the command current (or voltage) for the MR damper to generate the desired forces as close as possible to the optimal ones. Due to MR dampers are highly nonlinear devices, the inverse dynamics model is difficult to obtain. In this paper, a novel inverse MR damper model based on a network inversion to estimate the necessary current (or voltage) such as the desired force is exerted by the MR damper is presented. The proposed inverse model is validated carrying out experimental tests. In addition, a comparison of simulated tests with other damper controllers is also presented. Results show the effectiveness of the network inversion for inverse modeling of an MR damper, so that the proposed inverse model can act as a damper controller to generate the command current (or voltage) to track the desired damping force.This work was supported by the funds provided by the Spanish Government through the CICYT projects TRA2008-05373/AUT and TRA2011-28548-C02-01.Publicad

Vehicle sideslip angle measurement based on sensor data fusion using an integrated ANFIS and an Unscented Kalman Filter algorithm

Most existing ESC (Electronic Stability Control) systems rely on the measurement of both yaw rate and sideslip angle. However, one of the main issues is that the sideslip angle cannot be measured directly because the sensors are too expensive. For this reason, sideslip angle estimation has been widely discussed in the relevant literature. The modeling of sideslip angle is complex due to the non-linear dynamics of the vehicle. In this paper, we propose a novel observer based on ANFIS, combined with Kalman Filters in order to estimate the sideslip angle, which in turn is used to control the vehicle dynamics and improve its behavior. For this reason, low-cost sensor measurements which are integrated into the actual vehicle and executed in real time have to be used. The ANFIS system estimates a "pseudo-sideslip angle" through parameters which are easily measured, using sensors equipped in actual vehicles (inertial sensors and steering wheel sensors); this value is introduced in UKF in order to filter noise and to minimize the variance of the estimation mean square error. The estimator has been validated by comparing the observed proposal with the values provided by the CARSIM model, which is a piece of experimentally validated software. The advantage of this estimation is the modeling of the non-linear dynamics of the vehicle, by means of signals which are directly measured from vehicle sensors. The results show the effectiveness of the proposed ANFIS+UKF-based sideslip angle estimator

I Congreso Ecuatoriano de Psicología Comunitaria Desafíos de la Psicología para el Siglo XXI

El Primer Congreso Ecuatoriano de Psicología Comunitaria se celebró en la Universidad Politécnica Salesiana entre el seis y diez de agosto del presente año y tuvo como anfitriones del evento a los estudiantes y docentes de la Carrera de Psicología, sede Quito, Campus el Girón.