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Comfort Oriented Robust Adaptive Cruise control in Multi-Lane Traffic Conditions

IFAC-PapersOnLine 2016年第11期49卷 196-201页

作者： Schmied, Roman Waschl, Harald del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria

The increasing complexity of nowadays traffic situations requires further development of already existing Advanced Driver Assistant systems (ADAS). In the case of Adaptive Cruise control (ACC) such enhancements concern the consideration of lane change and/or multi-vehicle scenarios. Such lane change maneuvers may lead to switching processes for the controller which often lead to undesired and intense braking with detrimental effects on comfort, fuel economy and safety. This paper proposes an ACC approach within a multi-vehicle scenario which considers lane change maneuvers of surrounding traffic participants in a robust and predictive way with the objective to increase driving comfort. Robustness is addressed by considering worst case profiles concerning lane change behavior of preceding vehicles. Simulation results compare the robust controller to a nominal one and show significant improvement of the proposed approach by means of a comfort oriented performance index. © 2016

关键词： Adaptive cruise control

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An implementable multi-calibration strategy to address real driving emissions of CI engines

An implementable multi-calibration strategy to address real ...

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American control Conference

作者： Philipp Polterauer Harald Waschl Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz

ISBN: (纸本)9781509045839

In the last years emissions related to transportation have been in the focus of various legislation changes. The soon to be introduced Worldwide Harmonized Light-Duty Vehicles Test Procedure (WLTP) is one example for that. However, as shown by recent studies a substantial, often overlooked, factor is the driver itself and fixed procedures for testing within the legislation will not help in suppressing this influence. Classical calibration based engine control does not allow to counteract the drivers behavior or account for varying demands. Against this background we propose an engine control strategy based on multiple calibrations, where the selection of a calibration is the degree of freedom that can be used to counteract external influences. The calibration selection problem is mathematically formulated as a Boolean Linear Program (BLP) and an implementable approximate solution, which utilizes route specific information, is introduced. The method and its assumptions are validated by applying it in an experimental setup based on real road data and an engine testbed. The results show that the method is able to select a calibration in a sensible way and that the approximations lead to small constraint violations only.

关键词： engine control legislation CI engine Testing Procedures Calibration Degree of freedom Drivers Engines Emissions transport Real number

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Black Box SCR Modeling and control for Small CI Engines

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IFAC-PapersOnLine 2016年第11期49卷 28-33页

作者： Stadlbauer, Stephan Waschl, Harald del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria

Selective catalytic reduction (SCR) has become widely used to reduce NOxemissions especially for medium and heavy duty CI engines, while lean NOxtraps (LNT) are a typical choice for light duty engines. In the field of small engines, SCR is usually not applied, because an expensive additional AdBlue supply is necessary and the emission limits can be also achieved with less complex methods. Nevertheless, if the engine is used as range extender of a hybrid electric vehicle, in engine-only operation it must also fulfill the Diesel emission legislation. There SCR is a sensible and maybe in view of future legislation only choice. A key problem of this choice, is that for small engines, typically the available space for the SCR is limited and leads to a strongly reduced storage capability of the catalyst. Some of the features of a small system render a purely data based approach feasible as system dynamics are faster and phenomenon like storage are less pronounced. Thus in this work a black box modeling approach is presented and combined with an NMPC strategy for closed loop SCR control. The proposed control strategy is validated in simulation and experiments on a testbench. © 2016

关键词： Selective catalytic reduction Digital storage Engines Hybrid vehicles Nitrogen oxides After treatment control strategies Data based model Exhaust aftertreatment Light duty engines Modeling and control Range extenders Storage capability

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Risk functions oriented autonomous overtaking

Risk functions oriented autonomous overtaking

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Asian control Conference

作者： Dominik Moser Zahra Ramezani Davide Gagliardi Jinwei Zhou Luigi del Re Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria

ISBN: (纸本)9781509015740;9781509015733

This paper presents control formulations which integrate safety indicators as time headway and time to collision in the context of autonomous overtaking. Simulations via a traffic scenario in the high fidelity vehicle simulator IPG CarMaker are used to confirm the validity of the method. Some simple considerations allow to highlight the differences, in particular the time headway formulation is better suitable to guarantee safety in the case of very strong unexpected deceleration of preceding vehicles, while the time to collision approach precedes to similar safety for normal up to high deceleration of the other traffic participants, while offering much better comfort and fuel efficiency. Time headway precedes also to larger inter-vehicle distances, which represent a possible drawback in terms of capacity of the roads but may also make the approach useless in practice, as other drivers may enter into this space and thus remove the advantages of the time headway approach. As a conclusion, a combination of both approaches is suggested.

关键词： Automobiles Safety Collision avoidance Standards Roads Stochastic processes

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Efficient mixed integer programming for autonomous overtaking

Efficient mixed integer programming for autonomous overtakin...

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American control Conference

作者： Fabio Molinari Nguyen Ngoc Anh Luigi Del Re Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria

ISBN: (纸本)9781509045839

This paper addresses the autonomous overtaking problem using model predictive control. Accordingly, a mixed integer programming approach is put forward in which the surrounding vehicles are considered as moving obstacles. Unlike existing solutions using mixed integer programming, this paper presents more efficient formulations by reducing the number of binary variables, possibly enabling to accelerate the online computation. These algorithms are illustrated via a numerical example in the accurate vehicle simulator IPG CarMaker.

关键词： Integer Programming Mixed integer Moving obstacles Overtaking numerical example

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Preface

Lecture Notes in Control and Information Sciences

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Lecture Notes in control and Information Sciences 2019年 476卷 v-vi页

作者： Waschl, Harald Kolmanovsky, Ilya Willems, Frank Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Linz Austria Department of Aerospace Engineering University of Michigan Ann ArborMI United States Department of Mechanical Engineering Eindhoven University of Technology Eindhoven Netherlands

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Significance and Reliability of MARD for the Accuracy of CGM systems

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Journal of Diabetes Science and Technology 2017年第1期11卷 59-67页

作者： Reiterer, Florian Polterauer, Philipp Schoemaker, Michael Schmelzeisen-Redecker, Guenther Freckmann, Guido Heinemann, Lutz Del Re, Luigi Institute for Design and Control of Mechatronical Systems Johannes Kepler University Altenbergerstrae 69 Linz 4040 Austria Roche Diabetes Care Deutschland GmbH Mannheim Germany Institute for Diabetes-Technology GmbH At Ulm University Ulm Germany Science and Co Düsseldorf Germany

Background: There is a need to assess the accuracy of continuous glucose monitoring (CGM) systems for several uses. Mean absolute relative difference (MARD) is the measure of choice for this. Unfortunately, it is frequently overlooked that MARD values computed with data acquired during clinical studies do not reflect the accuracy of the CGM system only, but are strongly influenced by the design of the study. Thus, published MARD values must be understood not as precise values but as indications with some uncertainty. Data and Methods: Data from a recent clinical trial, Monte Carlo simulations, and assumptions about the error distribution of the reference measurements have been used to determine the confidence region of MARD as a function of the number and the accuracy of the reference measurements. Results: The uncertainty of the computed MARD values can be quantified by a newly introduced MARD reliability index (MRI), which independently mirrors the reliability of the evaluation. Thus MARD conveys information on the accuracy of the CGM system, while MRI conveys information on the uncertainty of the computed MARD values. Conclusions: MARD values from clinical studies should not be used blindly but the reliability of the evaluation should be considered as well. Furthermore, it should not be ignored that MARD does not take into account the key feature of CGM sensors, the frequency of the measurements. Additional metrics, such as precision absolute relative difference (PARD) should be used as well to obtain a better evaluation of the CGM performance for specific uses, for example, for artificial pancreas. © 2016 Diabetes Technology Society.

关键词： blood glucose continuous glucose monitoring diabetes therapy glucose measurement quality of measurement

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A Probabilistic Framework for Blood Glucose control in Diabetes

A Probabilistic Framework for Blood Glucose Control in Diabe...

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American control Conference

作者： Matthias Reiter Florian Reiterer Luigi del Re the Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz 4040 Linz Austria

ISBN: (纸本)9781509045839

Diabetes is a chronic disease that frequently requires administration of insulin. The choice of the right amount of insulin is usually done by the patient, but both too large and too small amounts of insulin can have dire and even life threatening effects. Against this background, there is a constant trend in developing systems which help the patient or even completely take over the decision, as the artificial pancreas. Both manual and assisted therapy try to stabilize the blood glucose (BG) value around a given safe target, typically around 100 mg/dl. However, even these systems have to work on the basis of some imprecise information by the patient, in particular on the amount of carbohydrates in the meals. Much work has been done to improve this estimation and to provide better models of the insulin/glucose metabolism in spite of the natural intra-patient variation. Differently from that, this paper proposes a different framework, in which the unavoidable uncertainty is modeled in probabilistic terms and the control goal is defined not in terms of proximity to a specific BG target but as keeping the risk of leaving the euglycemic range under a given threshold. This is achieved by a Markov chain model based on BG regions. The degree of freedom gained by this problem relaxation can be used for other purposes, e.g. the minimization of total insulin intake, as shown in some in silico examples.

关键词： Glucose control Diabetes Diabetes Mellitus Blood Glucose Standing Orders Glucose Insulin Insulins assisting with therapy basic group Artificial Pancreas Patients Markov chain Degree of freedom

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Autonomous overtaking using stochastic model predictive control

Autonomous overtaking using stochastic model predictive cont...

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Asian control Conference

作者： Ngoc Anh Nguyen Dominik Moser Patrick Schrangl Luigi del Re Stephen Jones Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria AVL List GmbH Graz Austria

ISBN: (纸本)9781509015740;9781509015733

This paper presents a control algorithm for autonomous overtaking problem using stochastic model predictive control. This algorithm relies on suitable prediction for the longitudinal and lateral speeds of the surrounding vehicles. Accordingly, these information are used to formulate suitable dynamics constraints for the proposed control algorithm which determines the need of overtaking action by tracking a suitable longitudinal speed reference and a lateral position reference, while avoiding the obstacles. Finally, the efficiency of the proposed algorithm is illustrated by two traffic scenarios in the environment of the reliable traffic simulator IPG CarMaker.

关键词： Reliability Prediction algorithms Heuristic algorithms Stochastic processes Predictive control Random variables Standards

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Parameter Sensitivity Reduction of Nonlinear Model Predictive control for Discrete-time systems

Parameter Sensitivity Reduction of Nonlinear Model Predictiv...

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Asian control Conference

作者： Patrick Schrangl Toshiyuki Ohtsuka Luigi del Re Institute for Design and Control of Mechatronical Systems Johannes Kepler University Linz Austria Department of Systems Science Kyoto University Kyoto Japan

ISBN: (纸本)9781509015740;9781509015733

Receding horizon methods have become very popular in the last decades for the approximate solution of optimal control problems, model predictive control (MPC) being a popular choice. MPC is to a large extent a model-based feedforward technique and as such its performance is rather sensitive to the model quality. This has prompted much interest in the search of methods to make MPC more robust against deviations such as uncertain parameters. This article presents a way to incorporate additional sensitivity terms into the optimization problem in order to reduce the cost function's sensitivity to the model parameters. For tackling the problem Continuation/GMRES (C/GMRES), a method to solve receding horizon nonlinear optimal control problems in an efficient way, was chosen, however, the general formulation is not restricted to this particular method. The potential performance of the approach is shown by means of simulation examples.

关键词： Cost function Mathematical model Sensitivity Robustness Covariance matrices Optimal control Discrete-time systems

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