Highly Automated Vehicle Systems
Copyright © 2014 Dr. Gáspár Péter, Dr. Szalay Zsolt, Aradi Szilárd
A tananyag a TÁMOP-4.1.2.A/1-11/1-2011-0042 azonosító számú „ Mechatronikai mérnök MSc tananyagfejlesztés ” projekt keretében készült. A tananyagfejlesztés az Európai Unió támogatásával és az Európai Szociális Alap társfinanszírozásával valósult meg.
Published by: BME MOGI
Editor by: BME MOGI
ISBN 978-963-313-173-2
2014
Table of Contents
- 1. Control design aspects of highly automated vehicles
- 2. Layers of integrated vehicle control
- 3. Environment Sensing (Perception) Layer
- 4. Human-Machine Interface
- 5. Trajectory planning layer
- 6. Trajectory execution layer
- 7. Intelligent actuators
- 8. Vehicle to Vehicle interactions (V2V)
- 9. Vehicle to Infrastructure interaction (V2I)
- 10. Vehicle to Environment interactions (V2E)
- 11. Different methods for platooning control
- 12. Vehicle control considering road conditions
- 13. Design of decentralized supervisory control
- 14. Fleet Management Systems
- 15. References
- References
List of Figures
- 1.1. Road fatalities in the EU since 2001 (Source: CARE)
- 1.2. Road fatalities by population since 2001 (Source: CARE)
- 1.3. European roadmap for moving to a low-carbon economy (Source: EU)
- 1.4. European Euro 6 emissions legislation (Source: DAF)
- 1.5. The effect of collision speed on fatality risk (Source: UNECE)
- 1.6. Situations when driver assistance is required. (Source: HAVEit)
- 1.7. Automation level approach by the HAVEit system. (Source: HAVEit)
- 1.8. Driver drowsiness warning: Time to take a coffee break! (Source: HAVEit)
- 1.9. LDW support guiding the driver back into the centre of the lane. (Source: Mercedes-Benz)
- 1.10. Counter-steering torque provided to support keeping the lane. (Source: TRW)
- 1.11. Warning for misuse of lane assist for autonomous driving. (Source: Audi)
- 1.12. Parking space measurement (Source: Bosch)
- 1.13. Principle of the operation of the parking aid systems (Source: Bosch)
- 1.14. ACC distance control function for commercial vehicles (Source: Knorr-Bremse)
- 1.15. Steps of collision mitigation with an ACC System (Source: Toyota)
- 1.16. Temporary Auto Pilot in action at 130 km/h speed (Source: Volkswagen)
- 1.17. Highly automated driving on motorways (Source: BMW)
- 1.18. Test vehicle with automated highway driving assist function (Source: Toyota)
- 1.19. Demonstrating automated roadwork assistance functionality. (Source: HAVEit)
- 1.20. Demonstration of a platoon control
- 1.21. Hierarchical structure applied in the PATH project
- 1.22. Google’s self-driving test car, a modified hybrid Toyota Prius (Source: http://www.motortrend.com)
- 2.1. Levels of intelligent vehicle control (Source: Prof. Palkovics)
- 2.2. Initial model of the HAVEit architecture simulation
- 2.3. Levels of intelligent vehicle control (Source: PEIT)
- 2.4. HAVEit System Architecture and Layer structure (Source: HAVEit)
- 2.5. Powertrain Control Structure of the execution layer (Source: PEIT)
- 2.6. Scheme of the integrated control
- 2.7. Reference control architecture for autonomous vehicles (NIST)
- 3.1. Sensor devices around the vehicle (Source: Prof. Dr. G. Spiegelberg)
- 3.2. Radar-based vehicle functions (Source SaberTek)
- 3.3. Principle of FM-CW radars (Source: Fujitsu-Ten)
- 3.4. Frequency allocation of 77 GHz band automotive radar
- 3.5. Bosch radar generations (Source: Bosch)
- 3.6. Measurement principle of ultrasonic sensor
- 3.7. The emitted and echo pulses (Source: Banner Engineering)
- 3.8. Bosch ultrasonic sensor (Source: Bosch)
- 3.9. Ultrasonic sensor system (Source: Cypress)
- 3.10. Structure of CCD (Source: Photonics Spectra)
- 3.11. Structure of CMOS sensor (Source: Photonics Spectra)
- 3.12. Principle of colour imaging with Bayer filter mosaic (Source: http://en.wikipedia.org/wiki/File:Bayer_pattern_on_sensor_profile.svg)
- 3.13. Bosch Multi Purpose Camera (Source: http://www.bosch-automotivetechnology.com/)
- 3.14. Bosch Stereo Video Camera (Source: http://www.bosch-automotivetechnology.com/)
- 3.15. Passive thermal image sensor (source: http://www.nature.com, BMW))
- 3.16. Night vision system display (source: BMW)
- 3.17. Typical laser scanner fusion system installation with 3 sensors. (Source: HAVEit)
- 3.18. :The laser scanner sensor itself and its installation point front left below the beams. (Source: HAVEit)
- 3.19. Multi-layer technology enables pitch compensation and lane detection. (Source: HAVEit)
- 3.20. Velodyne HDL-64E laser scanner (Source: Velodyne)
- 3.21. General architecture of laser scanners (Source: Velodyne)
- 3.22. Laser scanner fusion with 360 degrees scanning. (Source: IBEO)
- 3.23. Image of a point cloud from a laser scanner (Source: Autonomous Car Technology)
- 3.24. Position calculation method based on 3 satellite data. (Source: http://www.e-education.psu.edu)
- 3.25. Long March rocket head for launching Compass G4 satellite (Source: http://www.beidou.gov.cn)
- 3.26. BeiDou 2nd Deployment Step(Source: http://gpsworld.com/the-system-vistas-from-the-summit/)
- 3.27. Comparison of BeiDou with GPS(Source: http://gpsworld.com/china-releases-public-service-performance-standard-for-beidou/)
- 3.28. Differential GPS operation (source: http://www.nuvation.com)
- 3.29. Environment sensor positions on the HAVEit demonstrator vehicle. (Source HAVEit)
- 3.30. Block diagram of a sensor data fusion system: inputs and outputs. (Source HAVEit)
- 4.1. Example for the congested and confusing HMI (Source: Knight Rider series)
- 4.2. The vision of project AIDE (Source: AIDE)
- 4.3. HMI design: AQuA, take over request. (Source: HAVEit)
- 4.4. BMW iDrive controller knob (Source: BMW)
- 4.5. Splitview technology of an S-Class vehicle (Source: Mercedez-Benz)
- 4.6. Indicator stalk with cruise control and light switches (Source: http://www.carthrottle.com/)
- 4.7. Integrated radio and HVAC control panel with integrated knobs (Source: TRW)
- 4.8. Resistive touchscreen (Source: http://www.tci.de)
- 4.9. Projected capacitive touchscreen (Source: http://www.embedded.de)
- 4.10. Old instrument cluster: electronic gauges, LCD, control lamps (Source: BMW)
- 4.11. Liquid crystal display operating principles (Source: http://www.pctechguide.com)
- 4.12. A flexible OLED display prototype (Source: http://www.oled-info.com)
- 4.13. The SPORT+ and COMFORT modes of the BMW 5 Series’ instrument cluster (Source: http://www.bmwblog.com)
- 4.14. The SPORT+ and COMFORT modes of the BMW 5 Series’ instrument cluster (Source: http://www.bmwblog.com)
- 4.15. Head-Up Display on the M-Technik BMW M6 sports car. (Source. BMW)
- 4.16. Next generation HUD demonstration (Source: GM)
- 4.17. Excerpt from the ECE Regulations (Source: UNECE)
- 4.18. Combination of driver state assessment (Source: HAVEit)
- 5.1. Speed and distance profile comparison of standard ACC versus Cooperative ACC systems (Source: Toyota)
- 5.2. Illustration of the parallel parking trajectory segmentation (Source: Ford)
- 5.3. Layout of common parking scenarios for automated parking systems (Source: TU Wien)
- 5.4. Traffic jam assistant system in action (Source: Audi)
- 5.5. The operation of today’s Lane Keeping Assist (LKA) system (Source: Volkswagen)
- 5.6. Automated Highway Driving Assist system operation (Source: Toyota)
- 5.7. Scenarios of single or combined longitudinal and lateral control (Source: Nissan)
- 5.8. The manoeuvre grid with priority rankings (Source: HAVEit)
- 5.9. The decision of the optimum trajectory (Source: HAVEit)
- 6.1. Division of road
- 6.2. Simplified vehicle model
- 6.3. Implementation of the controlled system
- 6.4. Architecture of the low-level controller
- 6.5. Architecture of the control system
- 6.6. Counterbalancing side forces in cornering maneuver
- 6.7. Relationship between supply and demand of side friction in a curve
- 6.8. Relationship between curve radius and safe cornering velocity
- 6.9. The arc of the vehicle path
- 6.10. Validation of the calculation method
- 7.1. Intelligent actuators influencing vehicle dynamics (Source: Prof. Palkovics)
- 7.2. The role of communication networks in motion control (Source: Prof. Spiegelberg)
- 7.3. CAN bus structure (Source: ISO 11898-2)
- 7.4. Categorization of failure during risk analysis (Source: EJJT5.1Tóth)
- 7.5. Characterization of functional dependability (Source: EJJT5.1 Tóth)
- 7.6. Redundant energy management architecture (Source: PEIT)
- 7.7. Electronic power assisted steering system (TRW)
- 7.8. Superimposed steering actuator with planetary gear and electro motor (ZF)
- 7.9. Steer-by-wire actuator installed in the PEIT demonstrator (Source: PEIT)
- 7.10. Safety architecture of a steer-by-wire system (Source: HAVEit)
- 7.11. Direct Adaptive Steering (SbW) technology of Infiniti (Source: Nissan)
- 7.12. Retrofit throttle-by-wire (E-Gas) system for heavy duty commercial vehicles (Source: VDO)
- 7.13. Layout of an electronically controlled braking system (Source: Prof. von Glasner)
- 7.14. Layout of an Electro Pneumatic Braking System (Source: Prof. Palkovics)
- 7.15. Layout of an Electro Hydraulic Braking System (Source: Prof. von Glasner)
- 7.16. Layout of an Electro Mechanic Brake System (Source: Prof. von Glasner)
- 7.17. Clutch-by-wire system integrated into an AMT system (Source: Citroen)
- 7.18. Schematic diagram of an Automated Manual Transmission (Source: ZF)
- 7.19. Layout of a dual clutch transmission system (Source: howstuffworks.com)
- 7.20. Cross sectional diagram of a hydrodynamic torque converter with planetary gear (Source: Voith)
- 7.21. CVT operation at high-speed and low-speed (Source: Nissan)
- 8.1. V2V interactions (Source: http://www.kapsch.net)
- 8.2. Infrastructure-based and Ad hoc networks example (Source: http://www.tldp.org)
- 8.3. Vehicular Ad Hoc Network, VANET (source: http://car-to-car.org)
- 8.4. Multi-hop routing (Source: http://sar.informatik.hu-berlin.de)
- 8.5. Multicast communication (Source: http://en.wikipedia.org/wiki/File:Multicast.svg)
- 8.6. Bogus information attack
- 8.7. V2V standards and communication stacks (Source: Jiang, D. and Delgrossi, L.)
- 8.8. DSRC spectrum band and channels in the U.S.
- 8.9. DSRC spectrum allocation worldwide
- 8.10. V2V application examples (forrás:http://gsi.nist.gov/global/docs/sit/2010/its/GConoverFriday.pdf)
- 8.11. Hazardous location warning (source: http://car-to-car.org)
- 8.12. Privileging fire truck (source: http://car-to-car.org)
- 8.13. Reporting accidents (source: http://car-to-car.org)
- 8.14. Intelligent intersection (source: http://car-to-car.org)
- 8.15. V2V based Cooperative-adaptive Cruise Control test vehicle. (Source: Toyota)
- 9.1. Architecture example of V2I systems. (Source: ITS Joint Program Office, USDOT)
- 9.2. Collisions avoided using Adaptive Frequency Hopping
- 9.3. Example safety applications with the integration of DSRC and roadside sensors (Source: http://www.toyota-global.com)
- 9.4. Dynamic traffic control supported by DSRC (Source: http://www.car-to-car.org/)
- 10.1. Combined pedestrian detection (Source: http://www.roadtraffic-technology.com, AGD Systems)
- 10.2. Loop detector after installation (Source: http://www.fhwa.dot.gov/publications/publicroads/12janfeb/05.cfm)
- 10.3. Highway toll control cameras (Source: www.nol.hu)
- 10.4. Portable speed warning sign at city entrance. (Source: http://www.telenit.hu)
- 10.5. Radar-based measurement solution (Source: http://www.roadtraffic-technology.com, AGD Systems)
- 11.1. Illustration of a platoon in the CarSim software
- 11.2. Structure of a platoon system
- 11.3. Illustration of a platoon
- 11.4. Mini-platoon information structure
- 12.1. The effects of the forward velocity to the suspension system
- 12.2. The effects of the road roughness to the suspension system when the velocity is
- 13.1. The supervisory decentralized architecture of integrated control
- 14.1. System structure
- 14.2. General architecture of the on-board unit
- 14.3. Architecture of the central system
- 14.4. Diagram example
- 14.5. Example alarm log
- 14.6. Vehicle parameters’ statistics example
- 14.7. Journey log example
- 14.8. Vector map example
- 14.9. Google Maps based FMS example