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Implementation of a robust cruise control using look-ahead method

IFAC-PapersOnLine 2016年第11期49卷 505-510页

作者： Gáspár, Péter Németh, Balázs Basset, Michel Orjuela, Rodolfo Institute for Computer Science and Control Hungarian Academy of Sciences MTA-BME Control Engineering Research Group Budapest Hungary Systems and Control Laboratory Institute for Computer Science and Control Hungarian Academy of Sciences Budapest Hungary Laboratory Université de Haute-Alsace Mulhouse Cedex France

The paper proposes the implementation of a robust cruise control system which is able to ensure the fuel-efficient travel of the vehicle with a look-ahead control algorithm. The H∞-based feedforward-feedback control method guarantees robustness against varying vehicle mass, longitudinal disturbances and the consideration of actuator dynamics. The advantage of the method is the application of a small number of vehicle parameters. Therefore, a method for various passenger cars without significant modifications is needed. The proposed cruise control and the look-ahead method are implemented in a software-in-the-loop (SIL) environment using DSpace Autobox, which cooperates with the high-fidelity CarSim software through CAN communication. © 2016

关键词： Cruise control Application programs Computer control Numerical control systems Robust control Vehicles CAN communications Feedforward feedback control Look ahead control Look ahead methods Number of vehicles Robust control designs software in the loop(SIL) software in the loops

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Vision Only Collision Detection with Omnidirectional Multi-Camera System

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IFAC-PapersOnLine 2017年第1期50卷 15215-15220页

作者： Bauer, Péter Hiba, Antal Budapest Hungary Budapest Hungary

This article presents an omnidirectional multi-camera system applied to monocular image based visual aircraft sense and avoid. The proposed system can cover 360 degrees horizontal field fo view and so estimate possibility of collision even for intruders coming from backward. First, the definitions of time-to-collision (TTC) and closest point of approach (CPA) are summarized then a simple image parameter based method is proposed for their estimation even in case of oblique camera placement relative to aircraft forward direction. An error analysis of the applied approximation formula is done and a solution to pass past measurements from one camera coordinate system to another if the intruder moves is also presented. Finally a six camera system covering all the horizontal plane is proposed and simulated in software-in-the-loop. A large range of collision and non collision situations with different intruder sizes, velocities, miss distances and flight directions is tested. The validity of decisions is evaluated and the further development directions are determined. © 2017

关键词： Aircraft accidents Cameras Computer vision avoid Closest point of approach Collision decision Development directions Multi cameras Omnidirectional multi camera systems Sense software in the loops

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