Development of Predictive Vehicle Control System using Driving Environment Data for Autonomous Vehicles and Advanced Driver Assistance Systems

Abstract

In the field of modern automotive engineering, many researchers are focusing on the development of advanced vehicle control systems such as autonomous vehicle systems and Advanced Driver Assistance Systems (ADAS). Furthermore, Driver Assistance Systems (DAS) such as cruise control, Anti-Lock Braking Systems (ABS), and Electronic Stability Control (ESC) have become widely popular in the automotive industry. Therefore, vehicle control research attracts attention from both academia and industry, and has been an active area of vehicle research for over 30 years, resulting in impressive DAS contributions. Although current vehicle control systems have improved vehicle safety and performance, there is room for improvement for dealing with various situations. The objective of the research is to develop a predictive vehicle control system for improving vehicle safety and performance for autonomous vehicles and ADAS. In order to improve the vehicle control system, the proposed system utilizes information about the upcoming local driving environment such as terrain roughness, elevation grade, bank angle, curvature, and friction. The local driving environment is measured in advance with a terrain measurement system to provide terrain data. Furthermore, in order to obtain the information about road conditions that cannot be measured in advance, this work begins by analyzing the response measurements of a preceding vehicle. The response measurements of a preceding vehicle are acquired through Vehicle-to-Vehicle (V2V) or Vehicle-to-Infrastructure (V2I) communication. The identification method analyzes the response measurements of a preceding vehicle to estimate road data. The estimated road data or the pre-measured road data is used as the upcoming driving environment information for the developed vehicle control system. The metric that objectively quantifies vehicle performance, the Performance Margin, is developed to accomplish the control objectives in an efficient manner. The metric is used as a control reference input and continuously estimated to predict current and future vehicle performance. Next, the predictive control algorithm is developed based on the upcoming driving environment and the performance metric. The developed system predicts future vehicle dynamics states using the upcoming driving environment and the Performance Margin. If the algorithm detects the risks of future vehicle dynamics, the control system intervenes between the driver's input commands based on estimated future vehicle states. The developed control system maintains vehicle handling capabilities based on the results of the prediction by regulating the metric into an acceptable range. By these processes, the developed control system ensures that the vehicle maintains stability consistently, and improves vehicle performance for the near future even if there are undesirable and unexpected driving circumstances. To implement and evaluate the integrated systems of this work, the real-time driving simulator, which uses precise real-world driving environment data, has been developed for advanced high computational vehicle control systems. The developed vehicle control system is implemented in the driving simulator, and the results show that the proposed system is a clear improvement on autonomous vehicle systems and ADAS. Ph. D.

Original document

The different versions of the original document can be found in:

• http://hdl.handle.net/10919/85106