Intelligent vehicles and road transportation systems (ITS) Week 7 : - PowerPoint PPT Presentation

ME470 Intelligent vehicles and road transportation systems (ITS) Week 7 : Vehicle control and ADAS systems Denis Gingras January 2015 1 19-janv.-15 D Gingras – ME470 IV course CalPoly Week 7

Course outline  Week 1 : Introduction to intelligent vehicles, context, applications and motivations  Week 2 : Vehicle dynamics and vehicle modelling  Week 3: Positioning and navigation systems and sensors  Week4: Vehicular perception and map building  Week 5 : Multi-sensor data fusion techniques  Week 6 : Object detection, recognition and tracking  Week 7: ADAS systems and vehicular control  Week 8 : VANETS and connected vehicles  Week 9 : Multi-vehicular scenarios and collaborative architectures  Week 10 : The future: toward autonomous vehicles and automated driving (Final exam) D Gingras – ME470 IV course CalPoly Week 7 2 19-janv.-15

Week 7 outline  Brainstorming and introduction  Context and ADAS for improved safety  Background on system and control  PID  Fuzzy logic controllers  Controlling the vehicle dynamics  Longitudinal control  Lateral control  Electronic stability control systems  ABS  ADAS: some examples for IVs  High speed ACC  Low speed ACC  Lane keeping  Anti collision braking systems (ACBS)  Parking assist D Gingras – ME470 IV course CalPoly Week 7 3 19-janv.-15

Brainstorming Brainstorming Open questions and introductory discussion What is vehicle control? D Gingras – ME470 IV course CalPoly Week 7 4 19-janv.-15 4

Brainstorming Brainstorming Open questions and introductory discussion What is driver assistance ? D Gingras – ME470 IV course CalPoly Week 7 5 19-janv.-15 5

Brainstorming Brainstorming Open questions and introductory discussion Enumerate a few driver assistance systems. D Gingras – ME470 IV course CalPoly Week 7 6 19-janv.-15 6

Brainstorming Brainstorming Open questions and introductory discussion How would you describe the “driver – vehicle – environment” as a closed control loop system? D Gingras – ME470 IV course CalPoly Week 7 7 19-janv.-15

Brainstorming Brainstorming Open questions and introductory discussion With respect to motion, what are three main types of vehicular control? D Gingras – ME470 IV course CalPoly Week 7 8 19-janv.-15 8

Brainstorming Brainstorming Open questions and introductory discussion Enumerate a few key features of longitudinal collision avoidance systems. D Gingras – ME470 IV course CalPoly Week 7 9 19-janv.-15 9

Brainstorming Brainstorming Open questions and introductory discussion Enumerate a few key features of lateral collision avoidance systems. D Gingras – ME470 IV course CalPoly Week 7 10 19-janv.-15 10

Brainstorming Brainstorming Open questions and introductory discussion What is a PID controller? D Gingras – ME470 IV course CalPoly Week 7 11 19-janv.-15 11

Brainstorming Brainstorming Open questions and introductory discussion What is actuation? Name a few actuators in cars. D Gingras – ME470 IV course CalPoly Week 7 12 19-janv.-15 12

Brainstorming Brainstorming Open questions and introductory discussion What is a driver model? D Gingras – ME470 IV course CalPoly Week 7 13 19-janv.-15 13

Brainstorming Brainstorming Open questions and introductory discussion What would be the differences between a centralized vs a decentralized vehicular control design approach? D Gingras – ME470 IV course CalPoly Week 7 14 19-janv.-15 14

Introduction Introduction Advanced driver assistance systems (ADAS) aim to increase vehicle safety and alleviate driver workload. ADAS include adaptive cruise control (ACC), lane-keeping support, collision warning and collision avoidance, and assisted lane changes. The effectiveness of these driver assistant systems depends on the interpretation of the information arriving from sensors, which provide details of the surrounding vehicle environment and of the driver-assisted vehicle itself. These systems rely on the detection and subsequent tracking of objects around the vehicle. Such detection information is provided by radar, lidar, and vision sensor. Each ADAS has certain objectives that its controller try to meet. Before a controller can make a decision that enables the driver to feel natural, the motion of the surrounding object must be properly interpreted from the available sensor information. Source: Yong-Shik Kim et al., « An IMM Algorithm for Tracking Maneuvering Vehicles in an Adaptive Cruise Control Environment”, Int. Jrnal of Control, Automation, and Systems, vol. 2, no. 3, pp. 310-318, Sept. 2004. D Gingras – ME470 IV course CalPoly Week 7 15 19-janv.-15

Introduction Introduction Total number of road accidents and fatalities per total distance travelled, normalised on 1965 data for Europe. Graphic shows when passive and active safety systems have been introduced, as well as the expected safety potential of ADAS. Source: O. Gietelink et al., Development of advanced driver assistance systems with vehicle hardware-in-the-loop simulations, Tech report 05-009, Delft Center for Systems and Control, Delft Uni of Technology, 2006 D Gingras – ME470 IV course CalPoly Week 7 16 19-janv.-15

Introduction Introduction Pre-safe brake from Mercedez 17 19-janv.-15 D Gingras - UdeS – IV course CalPoly Week 7

Introduction Introduction Some ADAS Requirements  reliability: must be high for warning systems, extremely high for automated guidance  availability: must be available nearly 100% for automated guidance; lower availability acceptable for warning systems provided a warning is given  robustness: should operate in most weather conditions, warn and disable if not operating  accuracy: absolute accuracy of better than 30 cm needed; no high- frequency jitter allowed for control applications  range: rear-end warning requires knowing lane position of leading vehicle, to approx. 100m D Gingras – ME470 IV course CalPoly Week 7 18 19-janv.-15

Introduction Introduction Driver assistance features to mitigate collision Source: Panagiotis Lytrivis et al., Sensor Data Fusion in Automotive Applications, InTech Open Science Europe, 2009 D Gingras – ME470 IV course CalPoly Week 7 19 19-janv.-15

Introduction Introduction Driver assistance architecture Source: J Becker, Mech Eng. Stanford University D Gingras – ME470 IV course CalPoly Week 7 20 19-janv.-15

Introduction Introduction Collision Warning Vehicle Mechanization Source: ACAS Program, final report, executive summary, 1998. D Gingras – ME470 IV course CalPoly Week 7 21 19-janv.-15

Introduction Introduction Collision Warning Systems D Gingras – ME470 IV course CalPoly Week 7 22 19-janv.-15

Introduction Introduction Trends in control  Current IV applications are focused on driver assistance rather than vehicle control; nevertheless, partial and full automation will eventually be important.  A wide variety of standard and advanced controls techniques are being applied to road vehicles  Vehicles to date have been designed for human control, not automated control. For example, current steering system geometry is designed for “good handling”, i.e. predictable response for humans. The underlying hardware may need to be modified for optimal automatic control. D Gingras – ME470 IV course CalPoly Week 7 23 19-janv.-15

Introduction Introduction Challenges for automated control  Emergency maneuvers: Control systems optimized for smooth performance at cruise will not work for abrupt maneuvers in emergency situations.  Equipment failure: Special controllers need to be designed to cope with tire blowout or loss of power brakes or power steering.  Heavy vehicles: The load, and the distribution of the load, vary much more for a heavy truck than for a passenger car. Truck controllers need to be much more adaptable than light vehicle controllers.  Low speeds: Engine and transmission dynamics are hardest to model at slow speeds. Applications such as automated snow plows or semi-automated busses require careful throttle control design.  Low-friction surfaces: It is difficult task to predict the effective coefficient of friction on a particular road surface. This affects not only braking performance but also the design of throttle and steering controllers. D Gingras – ME470 IV course CalPoly Week 7 24 19-janv.-15

Introduction Introduction Vehicle stability systems  Introduction o Braking o Forces o Friction  Electronic Vehicle Stability Systems o Antilock Braking System (ABS) o Traction Control System (TCS) o Electronic Stability Control (ESC, ESP, DSC, VSC, …) D Gingras – ME470 IV course CalPoly Week 7 25 19-janv.-15

Adaptive cruise control ACC A basic “classical” cruise control system. Source: Deka J. et al., Study of Effect of P, PI Controllers on Car Cruise Control System and Security, Int. Jrnal of Adv. Res. in EE and Instr. Eng., 2006 D Gingras – ME470 IV course CalPoly Week 7 26 19-janv.-15

Adaptive cruise control ACC The basic functioning of an adaptive cruise control system Source: R Rajamani, “Vehicle Dynamics and Control”, Springer, 2 nd Ed, 2012 D Gingras – ME470 IV course CalPoly Week 7 27 19-janv.-15