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31st IEEE Intelligent Vehicles Symposium, IV 2020

作者： Kruger, Martin Novo, Anne Stockem Nattermann, Till Bertram, Torsten Zf Group Department of Automated Driving and Integral Cognitive Safety Düsseldorf40547 Germany Institute of Control Theory and Systems Engineering Tu Dortmund University Dortmund44227 Germany

Predicting the future trajectories for all vehicles relevant to the ego vehicle is a crucial, yet unsolved challenge to master automated driving. This paper proposes a combination of two lines of research for predicting all the trajectories of a group of vehicles of arbitrary size, considering the mutual interactions possible. Treating the prediction of other vehicles as a planning task for themselves enables the application of the artificial potential field approach. Modeling the driving situation as a potential field turns the trajectory prediction problem back to its original domain - utility space. Humans generate trajectories (that should be predicted) during driving by balancing costs and rewards, which lead to a total utility. The main difficulty inherent to the potential field approach is the hard problem of parameter tuning. Therefore, it is not directly used for prediction. Instead, the potential field representation is used as input for a neural network, which predicts a distribution over trajectories based on distinct maneuvers. This allows a multi-modal prediction for each vehicle and reflects the pattern recognition character. © 2020 IEEE.

关键词： Vehicles

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Driver State Regulation via Real-Time Neurofeedback in Partially Automated Driving

Driver State Regulation via Real-Time Neurofeedback in Parti...

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International Conference on Intelligent Transportation

作者： Khazar Dargahi Nobari Katharina Bartsch Franz Albers Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Germany

ISBN: (数字)9781728141497

ISBN: (纸本)9781728141503

Improving driver performance in critical driving situations is the key to increased road safety. In SAE Level 3 of automation, the driver is retained as a fallback in critical situations. Once the system reaches its limits, the distracted driver must overtake the driving task and is responsible for the present and upcoming situations. This contribution proposes a new method to impact driver performance by regulating the driver's arousal level. The arousal level of the driver is determined by detecting the driver's brain activity, and proper auditory feedback is issued to reduce the arousal towards the optimal value. The suggested approach utilizes neurofeedback to downregulate the driver's arousal via self-regulation in critical driving situations. The results show that the proposed neurofeedback supports the drivers to self-regulate their arousal during simple and difficult driving tasks and reach the optimal arousal level. The proposed approach is especially helpful in driving intervals with high criticality where the driver has to consecutively make decisions and react under demanding conditions.

关键词： Vehicles Task analysis Feedback amplifiers Manuals Electroencephalography Roads Real-time systems

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Single Degree of Freedom Model Predictive control with Variable Horizon

Single Degree of Freedom Model Predictive Control with Varia...

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American control Conference

作者： Artemi Makarow Christoph Rosmann Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Germany

ISBN: (数字)9781538682661

ISBN: (纸本)9781538682678

This paper proposes a sampling-based model predictive control scheme with a single degree of freedom in control. A variable horizon and stabilizing terminal conditions ensure recursive feasibility, asymptotic stability, and improvement of the closed-loop performance. The initial derivation leads to a computationally demanding mixed-integer nonlinear programming problem. To address this issue, the paper presents an algorithm that seeks the optimal horizon while rolling out a finite number of control input candidates. The proposed derivative-free optimization even finds the control invariant terminal set online at reasonable computational overhead. The approach is straightforward to implement and aims for fast, albeit small-scale systems. A comparative analysis with a fixed-horizon scheme and standard model predictive control on a nonlinear benchmark system shows high closed-loop performance with low computational effort.

关键词： Asymptotic stability Optimization Nonlinear systems Trajectory Predictive control Benchmark testing Real-time systems

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Core components of automated driving - algorithms for situation analysis, decision-making, and trajectory planning

Core components of automated driving - algorithms for situat...

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5th ATZ-Fachtagung Automatisiertes Fahren - Von der Fahrerassistenz zum autonomen Fahren, 2019

作者： Lienke, Christian Schmidt, Manuel Wissing, Christian Keller, Martin Manna, Carlo Nattermann, Till Bertram, Torsten TU Dortmund University Institute of Control Theory and Systems Engineering Dortmund44227 Germany ZF Group Active and Passive Safety Technology Dortmund40547 Germany

ISBN: (纸本)9783658279899

Automated driving is a key technology for the future of transportation. There are several motivations to develop automated vehicles. First and foremost, it promises to reduce the number of traffic accidents. Figure 1 shows the accidents recorded by the German police over the past years ([1]) ranging back to 1960. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2020.

关键词： Decision making

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Efficient Localization on Highways Employing Public HD Maps and Series-Production Sensors

Efficient Localization on Highways Employing Public HD Maps ...

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21st Stuttgart International Symposium on Automotive and Engine Technology, 2021

作者： Stannartz, Niklas Theers, Mario Sons, Marc Llarena, Adalberto Kuhn, Markus Kind, Oliver Maria Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44227 Germany Automated Driving and Integral Cognitive Safety ZF Automotive Germany GmbH Düsseldorf40547 Germany Automated Driving and Integral Cognitive Safety ZF Automotive Germany GmbH Gelsenkirchen45881 Germany

ISBN: (纸本)9783658335205

Compared to standard navigation maps, HD maps contain precise additional information for automated vehicles. To exploit this information, a lane-level accurate localization estimate within the HD map needs to be available. Here, the computation and memory overhead of the localization algorithm needs to be as small as possible to enable a reasonable usage of HD map information. Since the accuracy of GNSS measurements is insufficient for an accurate localization at lane-level, HD maps commonly contain geo-referenced landmarks like lane markings and boundaries that can be detected by series-production camera sensors, especially on highways. These measurements are fused with the motion measurements provided by the ESP sensors of the vehicle within a Bayesian filtering framework. Here, the most popular localization algorithm coming from the field of robotics is the particle filter (PF). However, for a robust estimation, a sufficiently high number of particles is required which is in contradiction to the objective to minimize the computational and memory overhead of the localization algorithm. Hence, in this contribution a memory and run-time efficient Extended Kalman-Filter (EKF) based solution is proposed employing measurements from series-production vehicle sensors and a public HD map from two highways near Düsseldorf. Experimental results achieved with the EKF are comparable with the localization accuracy provided by the PF while run-time and memory consumption are considerably reduced. © Springer Fachmedien Wiesbaden GmbH, ein Teil von Springer Nature 2021.

关键词： Extended Kalman filters

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Research on Switching Power Supply Based on Soft Switching Technology 8th

Research on Switching Power Supply Based on Soft Switching T...

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8th International Conference on Communications, Signal Processing, and systems, CSPS 2019

作者： Zhang, Zhihong He, Hong Tianjin City Electrical Engineering Technology Research Institute Tianjin300232 China Tianjin Key Laboratory for Control Theory & Applications in Complicated Systems Tianjin University of Technology Tianjin300384 China

ISBN: (纸本)9789811394089

Aiming at the problem that it is difficult to realize zero voltage and zero current switching (ZVZCS) in the current switching power supply, the resonance energy of the lagging arm is insufficient. In this paper, with TMS320F2812 as the control core, the DC/DC part of the switching power supply is designed by using the PWM phase shift control full-bridge ZVZCS technology in the series diode of the hysteresis arm of the converter circuit. The soft switch is well implemented in the case of load change. The MATLAB simulation results show that the soft switching power supply has the advantages of high output precision, fast dynamic response and small overshoot. © 2020, Springer Nature Singapore Pte Ltd.

关键词： Three term control systems

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Distributed Finite-Time Cooperative Localization for Three-Dimensional Sensor Networks

arXiv

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arXiv 2023年

作者： Wu, Jinze Zino, Lorenzo Lin, Zhiyun Rizzo, Alessandro The Department of Electronics and Telecommunications Politecnico di Torino Torino Italy Shenzhen Key Laboratory of Control Theory and Intelligent Systems School of System Design and Intelligent Manufacturing Southern University of Science and Technology Shenzhen China Peng Cheng Laboratory Shenzhen China The Institute for Invention Innovation and Entrepreneurship New York University Tandon School of Engineering BrooklynNY United States

This paper addresses the distributed localization problem for a network of sensors placed in a three-dimensional space, in which sensors are able to perform range measurements, i.e., measure the relative distance between them, and exchange information on a network structure. First, we derive a necessary and sufficient condition for node localizability using barycentric coordinates. Then, building on this theoretical result, we design a distributed localizability verification algorithm, in which we propose and employ a novel distributed finite-time algorithm for sum consensus. Finally, we develop a distributed localization algorithm based on conjugate gradient method, and we derive a theoretical guarantee on its performance, which ensures finite-time convergence to the exact position for all localizable nodes. The efficiency of our algorithm compared to the existing ones from the state-of-the-art literature is further demonstrated through numerical simulations. © 2023, CC BY.

关键词： Conjugate gradient method

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Digitization of Matrix-Headlights That Move as in the Real Test Drive*

Digitization of Matrix-Headlights That Move as in the Real T...

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IEEE/ASME (AIM) International Conference on Advanced Intelligent Mechatronics

作者： Mirko Waldner Maximilian Krämer Torsten Bertram Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund Germany

ISBN: (数字)9781728167947

ISBN: (纸本)9781728167954

This contribution presents a novel approach to transfer the illumination of a mechanical actuated automotive matrix-headlamp into a virtual environment. The digitization enables Hardware-in-the-Loop-Evaluations of high definition matrix-headlights in the light laboratory at any day time. This contribution explains the necessary modifications of the virtual night drive simulation for correct illumination with the actuated digitized headlight. The modifications depend on whether the camera is connected to the mechanical actuator or is rigid in the test stand. The advantages and disadvantages of each variant and its implementation are explained. The digitization under the influence of the mechanical movement is evaluated with a real matrix-headlight with 84 pixels as a demonstrator. The different camera variants are compared, and recommendations for the best implementation are given.

关键词： Lighting Cameras Light sources Vehicle dynamics Virtual environments Actuators Roads

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Do We Run Large-scale Multi-Robot systems on the Edge? More Evidence for Two-Phase Performance in System Size Scaling

arXiv

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arXiv 2023年

作者： Kuckling, Jonas Luckey, Robin Avrutin, Viktor Vardy, Andrew Reina, Andreagiovanni Hamann, Heiko The Department of Computer and Information Science University of Konstanz Konstanz78457 Germany The Centre for the Advanced Study of Collective Behaviour University of Konstanz Germany The Institute of Computer Engineering University of Lübeck Lübeck Germany The Institute for Systems Theory and Automatic Control University of Stuttgart Stuttgart Germany The Department of Computer Science The Department of Electrical and Computer Engineering Memorial University of Newfoundland St. John's Canada IRIDIA Université Libre de Bruxelles Brussels Belgium

With increasing numbers of mobile robots arriving in real-world applications, more robots coexist in the same space, interact, and possibly collaborate. Methods to provide such systems with system size scalability are known, for example, from swarm robotics. Example strategies are self-organizing behavior, a strict decentralized approach, and limiting the robot-robot communication. Despite applying such strategies, any multi-robot system breaks above a certain critical system size (i.e., number of robots) as too many robots share a resource (e.g., space, communication channel). We provide additional evidence based on simulations, that at these critical system sizes, the system performance separates into two phases: nearly optimal and minimal performance. We speculate that in real-world applications that are configured for optimal system size, the supposedly high-performing system may actually live on borrowed time as it is on a transient to breakdown. We provide two modeling options (based on queueing theory and a population model) that may help to support this reasoning. © 2023, CC BY.

关键词： Multipurpose robots

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Online motion planning based on nonlinear model predictive control with non-Euclidean rotation groups

arXiv

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arXiv 2020年

作者： Rösmann, Christoph Makarow, Artemi Bertram, Torsten Institute of Control Theory and Systems Engineering TU Dortmund University Dortmund44227 Germany

— This paper proposes a novel online motion planning approach to robot navigation based on nonlinear model predictive control. Common approaches rely on pure Euclidean optimization parameters. In robot navigation, however, state spaces often include rotational components which span over non-Euclidean rotation groups. The proposed approach applies nonlinear increment and difference operators in the entire optimization scheme to explicitly consider these groups. Realizations include but are not limited to quadratic form and time-optimal objectives. A complex parking scenario for the kinematic bicycle model demonstrates the effectiveness and practical relevance of the approach. In case of simpler robots (e.g. differential drive), a comparative analysis in a hierarchical planning setting reveals comparable computation times and performance. The approach is available in a modular and highly configurable open-source C++ software framework. Copyright © 2020, The Authors. All rights reserved.

关键词： Motion planning

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