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Vehicle Velocity and Road Friction Coefficient Estimation for Anti-lock Braking system

Vehicle Velocity and Road Friction Coefficient Estimation fo...

引用

International Automatic Control Conference

作者： Jia-Le Wei Mechatronics and System Integration Technology Group Automotive Research and Testing Center (ARTC) Changhua County Taiwan(R.O.C)

ISBN: (数字)9781728171982

ISBN: (纸本)9781728171999

Many studies take the slip as the major input for anti-lock braking system (ABS) controller. However, slip can only be calculated by vehicle velocity and wheel speed. The vehicle velocity cannot be measured by low cost sensors. In this paper, a vehicle velocity estimation and a friction coefficient estimation methods are proposed. The vehicle velocity estimation just requires wheel speed, wheel deceleration, brake pedal flag, and ABS enable flag. During the estimation, the friction of the road can also be obtained. The methods have been applied to real car ABS test data. There are four different road surface conditions including uniform low friction ($\mu$), high $\mu$, and $\mu$ jump from both low to high and the opposite. According to the results, the deviation between estimated velocity and the ground truth is at maximum 1.57 m/s on $\mu$ jump road surface which is from high $\mu$ to low $\mu$. As for other road surfaces, it provides more accurate outcome. The corresponding estimation of friction coefficient is close to reality. Moreover, the results show that the transition of road condition can be detected quickly. The proposed methods are proved effective for velocity estimation and friction coefficient estimation, which are beneficial for ABS control.

关键词： Friction Roads Estimation Wheels Production Velocity measurement Optimization

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The benefit of Simulation Test Application on the Development of Autonomous Driving system

The benefit of Simulation Test Application on the Developmen...

引用

International Automatic Control Conference

作者： Chien-Hung Yu Yi-Zhao Chen I-Chun Kuo Mechatronics and System Integration Technology Group Automotive Research and Testing Center (ARTC) Changhua County Taiwan(R.O.C) Electronic Control Technology Gourp Automotive Research and Testing Center (ARTC) Changhua County Taiwan(R.O.C)

ISBN: (数字)9781728171982

ISBN: (纸本)9781728171999

Advanced Driving Assistance system (ADAS) & Autonomous Driving system (ADS) are promptly developed as the demands on intelligent & secure transportation rise. For the mentioned system to get complex, the way to verify the function and evaluate the performance of it requires rigorous and comprehensive arrangement on test scenario settings. Meanwhile, the cost to build up the mentioned tests and the risks that the test personnel take may reach a new level if applying real car tests. To deal with these mentioned issues, the X-in-the-Loop(XiL) simulation test is adopted. In this paper, the benefit to apply simulation tests for ADS development will be introduced through the discussion about driving simulator appliance and test scenario construction. An ADS equipped with path following system and Automated Emergency Braking (AEB) system is set as a sample to be tested in the settled XiL to determine its efficacy of driving safety. According to the results, the requirements of ADS Development are met quite well - The system functionality is determined through each proposed tests. The cost of test equipment and hazards during the tests can thus be reduced.

关键词： Analytical models Transportation Hazards Personnel Automobiles Test equipment Autonomous vehicles

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A Camera-IMU Sensor Fusion for Robust Lane Information on Lateral Control system

A Camera-IMU Sensor Fusion for Robust Lane Information on La...

引用

Conference on Vehicle Control and Intelligence (CVCI)

作者： Chien-Hung Yu Kun-Lung Ku Hung-Pang Lin Mechatronics and System Integration Technology Group Automotive Research and Testing Center (ARTC) Changhua County Taiwan(R.O.C) Applied Sensor Technology Group Automotive Research and Testing Center (ARTC) Changhua County Taiwan(R.O.C)

ISBN: (纸本)9781728126845

Robust lane information is critical for lateral control system. It brings possibilities for control system to operate in strict conditions such as no lane mark detected and fuzzy lane mark because of camera limit. Also, due to the time-consuming image processing, the sample rate of lane information is always so low for control systems to make precise control. In order to deal with the problems mentioned above, IMU dynamic information is adopted and fused with the lane information from camera as a new method. It provides instant and more robust lane information for the lateral control system to operate beyond the limits of camera. A Model-in-the-loop(MiL) simulation based on PreScan-CarSim integration is built up to evaluate the performance of the proposed method. A comparison on Lane Following system(LFS) with/without sensor fusion when temporal failure of lane information occurs is made. It approves that the proposed method successfully provides accurate high sample-rated lane information and have LFS control the vehicle to travel inside the lane with less lateral deviation.

关键词： Sensor fusion Robust lane information Missing lane information Lane following system control systems Lanes Sensor fusion sample rate Cameras Lateral control Lane markings information accuracy control

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Air Brake Backup system Designe and Analysis 3

Air Brake Backup System Designe and Analysis

引用

2017 3rd IEEE International Conference on Control Science and systems Engineering (ICCSSE)

作者： Chien-An Chen Ming-Jyun Lin Mechatronics and System Integration Technology Group R&D Division Automotive Research and Testing Center ARTC

ISBN: (纸本)9781538604854

The current bus brake system, that consists of two parts, air brake and exhaust brake. The exhaust brake system not enough to replace the air brake system. This research focuses on the new backup brake mechanism, using several valves and backup compressed air accumulators are inserted into the main brake system to provide brake force. When air brake failure, backup system can be using slow down and reduce brake distance for requirements ability and air brake to make vehicle can be safe. Finally, according to the experimental results, when the rear brake system failure, the proposed system can be let the vehicle brake performance keeps above 90% of the original performance. If the front and rear brake system failure, the backup brake mechanism still keep the brake performance about 75% of the original value.

关键词： air brake system backup system

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Vehicle lane following achieved by two degree-of-freedom steering control architecture

Vehicle lane following achieved by two degree-of-freedom ste...

引用

IEEE International Conference on Intelligent Transportation Engineering (ICITE)

作者： Jin-Yan Hsu Tong-Kai Jhang Chih-Jung Yeh Peiming Chang Mechatronics and System Integration Technology Group Automotive Research and Testing Center (ARTC) TAIWAN (R.O.C) Technique consultant Automotive Research and Testing Center (ARTC) TAIWAN (R.O.C)

ISBN: (纸本)9781467390491

The Advanced Driver Assistance systems (ADAS) continue to grow rapidly in recent years. The ADAS can be divided into two categories: (1) vehicle lateral control assist whose actuation comes from power steering system, and (2) vehicle longitudinal control assist whose actuation comes from powertrain propulsion system and braking system. This paper proposes a two degree-of-freedom (2-DOF) controller architecture for an electric power steering system to achieve the function of the active steering angle control, integrated with upper-level supervisory control strategy implemented in lane following system (LFS). Also, we demonstrate its advantages over a one degree-of-freedom (1-DOF) controller structure. The vehicle dynamics with different active steering angle control architectures are analyzed to improve the angle control performance in lane following system. Furthermore, the active angle control algorithm was realized with an embedded-DSP and validated in a prototype vehicle.

关键词： Vehicles Vehicle dynamics Control systems Testing Steering systems Current control

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