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2012 20th Mediterranean Conference on control and automation, MED 2012

作者： Nemeth, Balazs Gaspar, Peter Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9781467325318

The paper proposes a control design method based on a variable-geometry suspension system applied in a driver assistance system. During maneuvers an autonomous control system modifies the camber angle of the front wheels by using the variable-geometry system in order to improve road stability. The control system guarantees various crucial performances which are related to the chassis roll angle and half-track change. Moreover, by changing the camber angle of the front wheels the yaw rate of the vehicle is modified, which can be used to reduce the tracking error from the reference yaw rate. Thus, with the reconfiguration of the camber angle, the variable-geometry system can also be used as a driver assistance system. The design of a reconfigurable suspension system is based on robust LPV methods, which meet the performance specifications and guarantee robustness against model uncertainties. The operation of the control system is illustrated through different vehicle maneuvers. © 2012 IEEE.

关键词： Geometry

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Design of an integrated control for driver assistance systems based on LPV methods

Design of an integrated control for driver assistance system...

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2012 American control Conference, ACC 2012

作者： Caspar, Peter Nemeth, Balazs Bokor, Jozsef Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-llll Budapest Hungary

ISBN: (纸本)9781457710957

The paper proposes the control design of a driver assistance system which integrates the brake, the steering, and a variable-geometry suspension system. In the control scheme a predefined road trajectory required by the driver with a steering command is followed to carry out various maneuvers. During maneuvers the control system generates the brake moments, modifies the front steering angle and changes the camber angles of the rear wheels. The control system must guarantee various crucial vehicle performances such as trajectory tracking and road stability. An actuator selection method in the control design is developed. A cruise control system based on robust LPV (Linear Parameter Varying) methods is designed with the emphasis on predefined velocity and path considerations. © 2012 AACC American Automatic control Council).

关键词： Vehicle performance

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Guaranteed peaks of spacing errors in an experimental vehicle string

Guaranteed peaks of spacing errors in an experimental vehicl...

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7th IFAC Symposium on Robust control Design, ROCOND'12

作者： Rödönyi, Gábor Gáspár, Péter Bokor, József Aradi, Szilárd Hankovszki, Zoltán Kovács, Roland Palkovics, László Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Hungary Budapest University of Technology and Economics Hungary Knorr-Bremse Brake-systems Gmbh Germany

ISBN: (纸本)9783902823038

controllers for autonomous vehicle strings usually consist of local feedback controllers responsible for performing acceleration demands and a common control law aimed at the string stability of the entire platoon. Based on analysis of robust peak-to-peak performance and experimental verification, it is shown in the paper that satisfactory spacing performance can be achieved without accurate knowledge on the engine/brake/gear systems, only by using a common control law that relies on inter-vehicle communication and the commercial on-board services of today's heavy vehicles. © 2012 IFAC.

关键词： Commercial vehicles

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Design of a Supervisory Integrated control for Driver Assistance systems

Design of a Supervisory Integrated Control for Driver Assist...

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IEEE Annual Conference on Decision and control

作者： Peter Gaspar Balazs Nemeth Jozsef Bokor Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences

ISBN: (纸本)9781467320658

The paper proposes a control design method for a driver assistance system. In the operation of the system a predefined trajectory required by the driver with a steering command is followed. During maneuvers the control system generates differential brake moment and the auxiliary front wheel steering angle and changes the camber angles of the wheels in order to improve the tracking of the road trajectory. The performance specifications are guaranteed by the local controllers, i.e., the brake, the steering, and the suspension systems, while the coordination of these components is provided by the supervisor. The advantage of this architecture is that local controllers are designed independently, which is ensured by the fact that the monitoring signals are taken into consideration in the formalization of their performance specifications. The control system also uses a driver model, with which the reference signal can be generated. In the control design the parameter-dependent LPV method, which meets the performance specifications, is used.

关键词： Driver Assistance systems performance specifications local controller oversight control systems Suspension System Reference signals Drivers camber design control design approach INTEGRATED SHIP control Wheels Steering

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Analysis and experimental verification of faulty network modes in an autonomous vehicle string

Analysis and experimental verification of faulty network mod...

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2012 20th Mediterranean Conference on control and automation, MED 2012

作者： Rodonyi, G. Gaspar, P. Bokor, J. Aradi, Sz. Hankovszki, Z. Kovacs, R. Palkovics, L. Systems and Control Laboratory Computer and Automation Research Institute of Hungarian Academy of Sciences P.O. Box 63 H-1518 Budapest Hungary Budapest University of Technology and Economics Hungary Knorr-Bremse Brake-systems Gmbh Austria

ISBN: (纸本)9781467325318

Advanced autonomous vehicle strings rely on inter-vehicle communication in order to decrease the necessary safety gap so that fuel consumption can be decreased and road capacity can be increased. In case of failures of some communication channels, the corresponding back-up control strategy must be switched on. Maximal spacing errors of such back-up modes are analyzed and compared. Robustness to platoon heterogeneity and communication delays are considered. The main conclusion we can draw is that, in the full communication mode, satisfactory spacing performance can be achieved by using simple output-feedback controllers designed without detailed knowledge on engine/brake characteristics, only utilizing the existing services available today in every commercial heavy trucks with automatic gearbox. Experimental verification of the designed controllers are presented. © 2012 IEEE.

关键词： Commercial vehicles

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Modeling and identification in frequency domain with representations on the Blaschke group

Modeling and identification in frequency domain with represe...

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IASTED International Conference on control and Applications, CA 2012

作者： Soumelidis, Alexandras Bokor, József Schipp, Ferenc Systems and Control Laboratory Computer and Automation Research Institute Kende 13-17 Budapest Hungary Department or Numerical Analysis Eötvös Loránd University Pazmany Peter 1/C Budapest Hungary

ISBN: (纸本)9780889869226

This paper gives an analysis on the opportunities of using some principles of the hyperbolic geometry in the field of signals and systems theory. Based upon the hyperbolic transform realized by the Blaschke function a hyperbolic metric is defined on the unit circle that corresponds to the notions of the Poincare disc model of the hyperbolic geometry. Based on the hyperbolic metric and the Laguerre representation of analytic functions in the unit disc a method is outlined, which gives the opportunity to derive the poles of the functions. Deriving the poles in combination with function representations in rational orthogonal bases solves the nonparametric identification problem in the frequency domain.

关键词： Poles

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Guaranteed peaks of spacing errors in an experimental vehicle string

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IFAC Proceedings Volumes 2012年第13期45卷 759-764页

作者： Gábor Rödönyi Péter Gáspár József Bokor Szilárd Aradi Zoltán Hankovszki Roland Kovács László Palkovics Systems and Control Laboratory Computer and Automation Research Institute of Hungarian Academy of Sciences Budapest University of Technology and Economics Knorr-Bremse Brake-systems Gmbh

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Design of platoon velocity based on multi-criteria optimization

Design of platoon velocity based on multi-criteria optimizat...

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7th IFAC Symposium on Robust control Design, ROCOND'12

作者： Németh, Balázs Csikós, Alfréd Varga, István Gáspár, Péter Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 H-1111 Budapest Hungary

ISBN: (纸本)9783902823038

The paper focuses on the design of the velocity of a platoon based on fuel consumption, road slopes, emissions and traveling time. Since the performance specifications are in contradiction, the design task leads to a multi-criteria optimization procedure. Moreover, the differences between the dynamics of the vehicles in the platoon should be taken into consideration. The goal of this paper is to develop an optimization method for the velocity of the platoon which creates a balance between the different performance factors. The design of the platoon control is based on the robust H∞ control theory. The method is illustrated through simulation examples, which show that a balance between energy saving, the minimization of traveling time and emission can be obtained. © 2012 IFAC.

关键词： Energy conservation

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Analysis of driver behavior related to look-ahead control

Analysis of driver behavior related to look-ahead control

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13th IFAC Symposium on control in Transportation systems, CTS 2012

作者： Mihály, András Németh, Balázs Gáspár, Péter Department of Control and Transport Automation Budapest University of Technology and Economics Hungary Bertalan L. u. 3 H-1111 Budapest Hungary Systems and Control Laboratory Computer and Automation Research Institute Hungarian Academy of Sciences Kende u. 13-17 H-1111 Budapest Hungary

ISBN: (纸本)9783902823137

The paper focuses on the design of look-ahead control, in which road inclinations, speed limits and traveling time are taken into consideration. In the control system the longitudinal control incorporates the brake and traction forces to achieve the required velocity. The advantage of the method is that during the travel of the vehicle the control calculates the appropriate velocity, with which the number of unnecessary accelerations and brakings and their durations can be significantly reduced. The velocity proposed by the automatic system may interfere with the velocity selected by the driver. In the paper the system based on look-ahead control is compared to a vehicle operated by a driver using a hardware-in-the-loop simulation system. © 2012 IFAC.

关键词： Robust control

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Design of fault-Tolerant control for trajectory tracking 13

Design of fault-Tolerant control for trajectory tracking

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13th Mini Conference on Vehicle System Dynamics, Identification and Anomalies, VSDIA 2012

作者： Németh, Balázs Gáspár, Péter Szabó, Zoltán Bokor, József Sename, Olivier Dugard, Luc Computer and Automation Research Institute Systems and Control Laboratory Kende U. 13-17 Budapest Hungary Control Systems Department GIPSA-lab 11 Rue des Mathématiques ENSE3 BP 46 St martin d'Hrescedex GrenobleF-38402 France

ISBN: (纸本)9789633131022

The paper proposes a fault-Tolerant integrated control system with the brake and the steering for developing a driver assistance system. The purpose is to design a fault-Tolerant control which is able to guarantee the trajectory tracking and lateral stability of the vehicle against actuator fault *** both actuators affect the lateral dynamics of the vehicle, in the control design a balance and priority between them must be achieved. The method is extended with a fault-Tolerant feature based on a robust LPV method, into which the detected fault information are incorporated. The control design is performed by using the Matlab/Simulink software and the verification of the designed controller is performed by using the CarSim software.

关键词： Robust control

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