Graphics from http://www.toyota-global.com/ unless otherwise specified Ken Butts, CPS Week 2016, Vienna 1
SMART MOBILITY SOCIETY � Relevant but not discussed: � Safety / Autonomy � Ecological Powertrains Internal Combustion Hybrid Vehicle Electric Vehicle Plug-in Hybrid Vehicle Personal Mobility Fuel Cell Vehicle � Intelligent Transportation Systems � Smart Grid � Research samples Partner Robot Ken Butts, CPS Week 2016, Vienna 2
Smart Mobility Society for Safety: Aiming for No Traffic Accidents CPS Ken Butts, CPS Week 2016, Vienna 3
Vehicle Safety Technologies: Today CPS Ken Butts, CPS Week 2016, Vienna 4
Automated Highway Driving Assist System: Tomorrow Demonstrated on public roads in Detroit during the fourth annual Toyota Advanced Safety Seminar on Sept. 4, 2014 60 Sec ITS Video TOYOTA.wmv http://corporatenews.pressroom.toyota.com/releases/toyota+advanced+automated+vehi cle+technology+us+roads+sept4.htm Ken Butts, CPS Week 2016, Vienna 5
Autonomous Vehicles: Future Toyota Research Institute (TRI) DR. GILL PRATT at the Consumer Electronics Show 2016 “…the technologies we develop have to work not only at the Million-mile scale, but at the Trillion- mile scale . To address this problem and leverage AI for other uses, TRI has four initial mandates: First, we wish to enhance the safety of automobiles with the ultimate goal of creating a car that is incapable of causing a crash , regardless of the skill or condition of the driver. Second, we want to increase access to cars to those who otherwise cannot drive, including people with special needs and seniors . Third, we plan to help translate Toyota’s expertise in creating products for outdoor mobility into products for indoor mobility . In other words, Toyota’s goal is to move people across the room…across town…and across the country. Finally we hope to accelerate scientific discovery by applying techniques from artificial intelligence and machine learning particularly in the area of materials science . …” http://corporatenews.pressroom.toyota.com/releases/2016+ces+pratt.htm Ken Butts, CPS Week 2016, Vienna 6
Smart Mobility for Ecology Three challenges regarding environmental and energy issues: � finding alternative energy sources to oil � reducing CO2 emissions � preventing air pollution Market considerations: cost , driving range, re-energizing, infrastructure Ken Butts, CPS Week 2016, Vienna 7
Smart Mobility for Ecology: Future * CO 2 eq 4°C Scenario 2°C Scenario * 2DS: 2°C temperature rise scenario: Efficiency and Low-carbon fuels https://www.iea.org/media/workshops/2013/egrdmobility/DULAC_23052013.pdf Ken Butts, CPS Week 2016, Vienna 8
Smart Mobility for Ecology: Efficiency Cost Cooled Exhaust Gas Recirculation Downsized Turbo Development Areas: • SI engine • Discrete Variable Valve Lift Variable Valve Lift • Turbocharging & Downsizing • Cooled EGR Transmission • Ideal • Aerodynamics • Mass reduction % Fuel reduction • Tire rolling resistance • Accessories (e.g. air conditioning, power steering) Cost, Effectiveness and Deployment of Fuel Economy Technologies for Light-Duty Vehicles, The National Academies Press, 2015 Ken Butts, CPS Week 2016, Vienna 9
Smart Mobility for Ecology: Alternative Powertrains Toward zero green house gas emissions Internal Combustion CO 2 Fuel Cell Battery Electric Plug In Hybrid https://www.iea.org/publications/freepublications/publication/ETP2012_free.pdf Ken Butts, CPS Week 2016, Vienna 10
Smart Mobility for Ecology: Hybrid Technology is the Core Ken Butts, CPS Week 2016, Vienna 11
Smart Mobility for Ecology: Market Position 2010-2020 2020-2030 https://www.iea.org/publications/freepublications/publication/ETP2012_free.pdf Ken Butts, CPS Week 2016, Vienna 12
Intelligent Transportation Systems Smart communities and connected vehicles will provide new features that affect all aspects of human mobility Ken Butts, CPS Week 2016, Vienna 13
Smart Grid Smart use of renewable natural energy by connecting homes, people and cars *1 G-Station :Charger for EVs and PHVs *2 G-Book :G-BOOK/G-Link * Home Energy Management System Ken Butts, CPS Week 2016, Vienna 14
Research samples Clearly, Cyber-Physical Systems (CPS) technologies are vital to Smart Mobility advancement. Our group at the Toyota Technical Center focuses on the application of Model Based Development to automotive powertrains: � CPS modeling of powertrain and vehicle systems � Advanced control design � Simulation guided verification and validation Ken Butts, CPS Week 2016, Vienna 15
Research samples: Advanced control design General automotive powertrain control problem characteristics: � multi-input / multi-output nonlinear dynamics � multiple performance objectives / tradeoffs � constrained operation for reliability / high performance � Nonlinear Model Predictive Control as a systematic design method Primary Challenge: � Computation Cost Approach: � Apply Symbolic Computing Application Demonstration: � Diesel Air Path Control � u: EGR Valve, Throttle, VGT � y: Intake Pressure, EGR rate Ken Butts, CPS Week 2016, Vienna 16
Research samples: Advanced control design: Nonlinear MPC On-line computation reductions Set-up and solution due to offline symbolic analysis � % � � ( evaluation ② (� $ � � �� � � � � � � � � On-line plant model 100 � Normalized cost � � � � � � � � � �� Cost function � 50 Symbolic � � � � � � � � Constraints 0 Numeric � � � � � � � � � � � � � � � � � � � � � � Lagrangian with modified constraints current design � � � � ��� � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � � ���� � � � � � ③ Common terms between Optimization variables � % � � *+,(� $ � % � � � � � � control modified state co-state constraint calculate common Lagrange terms once multiplier ① � � � � � � � � � � � � � � Off-line necessary conditions � � � � � � � for optimality �� � � � � � ! � � MSparse and structural Linear Solve � � ��� � � ��� � � � � � � � ��� ① Formulation � �"� ��� � � ��� # requires symbolic identify zero differentiation and constant ② ③ M elements � % � � &� � % � '� � � % � � ( � $ � � On-line Newton iteration to off-line find the values of the � %)� � � � % � &� � % � optimization variables 17 Ken Butts, CPS Week 2016, Vienna
Research samples: V&V: Powertrain Control Design Requirements ����� ������ and Design co- developed Prototype X-In-the-Loop- Design Lots and lots of testing, Simulators - - + + now by driving! System C C evaluation Legacy Code Hardware-in- Prototype modeling and New design the-loop testing implementation Integrated Requirement code Controller Specification Software-in-the- Model loop testing Auto-Code Generation Ken Butts, CPS Week 2016, Vienna 18
Research samples: V&V: leverage engineering process and technology trends Software Testing Program Analysis Control Theory Techniques Formal Verification Can apply to real designs? (scalability) • Ideal • Simulation technique • Falsification • Linear Analysis (numerical) • Test Vector Generation for • Concolic Model Coverage Testing • Linear Analysis • (Bounded) Model (symbolic) Checking • Stability Proofs • Theorem • Reachability Proving Analysis How formal/exhaustive? Ken Butts, CPS Week 2016, Vienna 19
Search-Based Test (Falsification) Robustness: continuous measure of performance relative to requirement Search-Based Test Framework “Automatic harsh test machine” Requirement Negative robustness MILS, SILS etc. Plant u Inputs Watch Counter example t (accel, brake etc.) robustness Or, test ended without Controller counter example. Update inputs to reduce robustness (Optimization problem) Key elements: 1. Requirement Description Language 2. Robustness Computation Now finding design flaws in 3. Input Design production scale 4. Optimization (for hybrid dynamics) specifications 5. Coverage Ken Butts, CPS Week 2016, Vienna 20
Grateful and Indebted Acknowledgements: Toyota Technical Center: Prof. Ilya Kolmanovsky Prof. Sriram Sankaranarayanan Mr. Dominic Liao-McPherson University of Colorado Dr. Jim Kapinski University of Michigan Prof. Sanjit Seshia Dr. Hisahiro Ito Prof. Georgios Fainekos Dr. Alex Donze Arizona State University University of California Berkeley Dr. Jyo Deshmukh Prof. Karl Hedrick Dr. Thao Dang Dr. Xiaoqing Jin University of California Berkeley Dr. Oded Maler Verimag Mr. Masato Ehara Prof. Jing Sun University of Michigan Prof. Rupak Majumdar Mr. Prashant Ramachandra Max Plank Institute Prof. Nasser Lashgarian Azad Dr. Kevin Zaseck Prof. John McPhee Prof. Bruce Krogh University of Waterloo Prof. Andre Platzer Dr. Mike Huang Carnegie Mellon University Prof. Masayoshi Tomizuka Mr. Jason Rodgers University of California Berkeley Prof. Sayan Mitra University of Illinois Mr. Arthur Wu Prof. Paulo Tabuada University of California Los Angeles …. Mr. Derick Caveney …. …. Ken Butts, CPS Week 2016, Vienna 21
Recommend
More recommend
