Search Results

In this paper, a closed loop path planning and tracking control approach of collision avoidance for autonomous vehicle is proposed. The two-level model predictive control (MPC) is proposed for the path planning and tracking. The upper-level MPC is designed based on the simple vehicle kinematic model to calculate the collision-free trajectory and the potential field method is adopted to evaluate the collision risk and generate the cost function of the optimization problem. The lower-level MPC is the trajectory-tracking controller based on the vehicle dynamics model that calculates the desired control inputs. Finally the control inputs are distributed to steering wheel angle and motor torque via optimal control vectoring algorithm. Test cases are established on the Simulink/CarSim platform to evaluate the performance of the controller.

UGV (Unmanned Ground Vehicle) is gaining increasing amounts of attention from both industry and academic communities in recent years. Local trajectory planning is one of the most important parts of designing a UGV. However, there has been little research into local trajectory planning and tracking, and current research has not considered the dynamic of the surrounding environment. Therefore, we propose a dynamic local trajectory planning and tracking method for UGV driving on the highway in this paper. The method proposed in this paper can make the UGV travel from the navigation starting point to the navigation end point without collision on both straight and curve road. The key technology for this method is trajectory planning, trajectory tracking and trajectory update signal generation. Trajectory planning algorithm calculates a reference trajectory satisfying the demands of safety, comfort and traffic efficiency.

Significant progress in modeling techniques has greatly enhanced the application of computer simulations in vehicle safety. However, the fine-meshed impact models are usually complex and take lots of computational resources and time to conduct design optimization. Hence, to develop effective methods to simplify the impact models without losing necessary accuracy is of significant meaning in vehicle crashworthiness analysis. Surface deformation is frequently regarded as a critical factor to be measured for validating the accuracy of CAE models. This paper proposes an integrated validation framework to evaluate the inconsistencies between the deformed surfaces of the original model and simplified model. The geometric features and curvature information of the deformed surfaces are firstly obtained from crash simulation. Then, the magnitude and shape discrepancy information are integrated into the validation framework as the surface comparison objects.

This paper proposed a two-section trajectory planning algorithm. In this trajectory planning, sigmoid function is adopted to fit two tangent arcs to meet limited parking spaces by reducing the radius of turning. Then the transverse preview model is established and the path tracking errors including distance error and angle error are estimated. The weight coefficient is considered to distribute the impact factor of traverse distance error or traverse angle error in the total error. The fuzzy controller is designed to track the two-section trajectory in autonomous intelligent parking system. The fuzzy controller is developed due to its real-time and robustness in the parking process. Traverse errors and its first-order derivative are selected as input variables and the outer wheel steering angle is selected as the output variable in fuzzy controller. They are also divided into seven fuzzy sets. Finally, forty rules are decided to achieve effective trajectory tracking.

Several surrogate models such as response surface model and radial basis function and Kriging models are developed to speed the optimization design of vehicle body and improve the vehicle crashworthiness. The error analysis is used to investigate the accuracy of different surrogate models. Furthermore, the Kriging model is used to fit the model of B-pillar acceleration and foot well intrusion. The response surface model is used to fit the model of the entire vehicle mass. These models are further used to calculate the acceleration response in B-pillar, foot well intrusion and vehicle mass instead of the finite element model in the optimization design of vehicle crashworthiness. A multi-objective optimization problem is formulated in order to improve vehicle safety performance and keep its light weight. The particle swarm method is used to solve the proposed multi-objective optimization problem.

Computer Aided Engineering (CAE) models have proven themselves to be efficient surrogates of real-world systems in automotive industries and academia. To successfully integrate the CAE models into analysis process, model validation is necessarily required to assess the models’ predictive capabilities regarding their intended usage. In the context of model validation, quantitative comparison which considers specific measurements in real-world systems and corresponding simulations serves as a principal step in the assessment process. For applications such as side impact analysis, surface deformation is frequently regarded as a critical factor to be measured for the validation of CAE models. However, recent approaches for such application are commonly based on graphical comparison, while researches on the quantitative metric for surface-surface comparison are rarely found.

Computer modeling and simulation have significantly facilitated the efficiency of product design and development in modern engineering, especially in the automotive industry. For the design and optimization of car models, optimization algorithms usually work better if the initial searching points are within or close to a feasible domain. Therefore, finding a feasible design domain in advance is beneficial. A data mining technique, Iterative Dichotomizer 3 (ID3), is exploited in this paper to identify sets of reduced feasible design domains from the original design space. Within the reduced feasible domains, optimal designs can be efficiently obtained while releasing computational burden in iterations. A mathematical example is used to illustrate the proposed method. Then an industrial application about automotive structural optimization is employed to demonstrate the proposed methodology. The results show the proposed method’s potential in practical engineering.

Vehicle weight reduction has become one of the viable solutions to ever-growing energy and environmental crisis. In vehicle design, response surface model (RSM) is commonly used as a surrogate of the high fidelity Finite Element (FE) model to reduce the computational time and improve the efficiency of design process. However, RSM introduces additional sources of uncertainty, such as model bias, which largely affects the reliability and robustness of the prediction results. The bias of RSM need to be addressed before the model is ready for extrapolation and design optimization. For the purpose of constructing and correcting the bias in RSMs, scheduling Design of Experiments (DOEs) must be conducted properly. This paper develops a method to arrange DOEs in order to build RSMs with high quality, considering the influence of input uncertainty.

Computer programs and models are playing an increasing role in simulating vehicle crashworthiness, dynamic, and fuel efficiency. To maximize the effectiveness of these models, the validity and predictive capabilities of these models need to be assessed quantitatively. For a successful implementation of Computer Aided Engineering (CAE) models as an integrated part of the current vehicle development process, it is necessary to develop objective validation metric that has the desirable metric properties to quantify the discrepancy between multiple tests and simulation results. However, most of the outputs of dynamic systems are multiple functional responses, such as time history series. This calls for the development of an objective metric that can evaluate the differences of the multiple time histories as well as the key features under uncertainty.

Simulation based design optimization has become the common practice in automotive product development. Increasing computer models are developed to simulate various dynamic systems. Before applying these models for product development, model validation needs to be conducted to assess their validity. In model validation, for the purpose of obtaining results successfully, it is vital to select or develop appropriate metrics for specific applications. For dynamic systems, one of the key obstacles of model validation is that most of the responses are functional, such as time history curves. This calls for the development of a metric that can evaluate the differences in terms of phase shift, magnitude and shape, which requires information from both time and frequency domain. And by representing time histories in frequency domain, more intuitive information can be obtained, such as magnitude-frequency and phase-frequency characteristics.