Lecture 10-5 Vehicle Steering Control week 14 12/4/2014 Thurs • Lane keeping model • Lane keeping control

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Lecture 10-5 Vehicle Steering Control week 14 12/4/2014 Thurs

• Lane keeping model

• Lane keeping control

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System Control

Professor Kyongsu Yi

Vehicle Dynamics and Control Laboratory Seoul National University

10-5 Vehicle Control: State Feedback

and pole placement

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Mercedes Self-Driving Car Bertha Comes to

California

Automated Driving Worldwide

BMW's Chinese Robocar Tests Will Use Baidu's Maps

“Future Truck 2025”

The UK Oks Self-Driving Cars on Its Roads Soon

University of Michigan Robo Car Urban Test Track

Self-driving Audi RS7 aims for 149 mph in driver-free race lap

produces self- driving vehicles

Tesla

Aims to “90% Autopilot” By 2015

GM To Pour All

Resources Into Single Car That Can Be Safely Driven Down Street And Back

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Robotic Road Train

Semiautonomous cars

will play follow the leader, giving drivers a rest and saving fuel

Illustration: Tavis Coburn IEEE Spectrum November 2012

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2012-9-26 조선일보

Semi-autonomous cars

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상용화 센서 기반 HK SSC 검증 플랫폼 구축 ADV6

Long range Radar ( Delphi : 77GHz )

Vision Sensor

( Mobileye : C2-170 ) Autobox

RT3002 Camera : 영상 취득용

Laser Scanner ( IBEO 장착 환경 구축 )

Rear-side Radar ( Delphi : 24GHz )

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Automated Driving on Urban Roadways

• 총거리 : 1.2 km

• 신소재공동연구소(A)  제 2공학관(B) Parked Vehicle

Non-vehicle Obstacle - Pedestrian

- Guardrail

Other traffic Participant - Preceding Vehicle - Oncoming Vehicle

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Automated Driving

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

Safety



Fuel saving



Traffic efficiency



Technologies

-

Risk management by Co-pilot

-

Eco driving by ADAS-GPS-map

-

v2X-ITS

Benefits and enabling technologies

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1. Sensor Information

- Practical implementation 2. Control Methodology

- Feedforward - Feedback

3. 제어성능

- 제어성능

- Measurement noise disturbance effect - Control System Module

Control Issues

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Error Dynamics : Position And Yaw Angle Error

Centerline of Lane c

e

_ψ

e

y ^y

x Centerline of Vehicle

1. Position and Yaw Angle

y

,

e e

_ψ

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Error Dynamics : Preview Distance Error Based

2. Position Error & Preview Distance Error ( )

,

_,

y LP

e e

_ψ

c

x y

Lp

Centerline of Lane

ey

y LP,

e

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Error Dynamics : Theoretical Optimal Control

3. Theoretical : Map based Preview Optimal Control

( )

, , , , e

y

f x

e f x

x Ax B F

ψ

δ ω δ ω

δ ω

 

  =  

     

= + +



Known

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1. 1988-1990 : PATH - Magnetic Sensor

2. Vision / Camera : Commercially Available 3. GPS / MAP

Measurements

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Measurement : Magnetic Sensor

+ - + + +

+

- - -

Magnetic Poles 1m

Magnetometer

y

,

e e

_ψ

 

⇒  

Magnet Magnetometer

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Measurement : Vision

Vision :

, , ( )

e e R curvature

y _ψ

LDW LKS LDAS

 

 



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Measurement : GPS / MAP

Path

, , , Map Path

_y

, x y ψ ⇒ e e

_ψ

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End of Steering Control Fall 2014 System control

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