Course Content
1. Introduction to ADAS i. Overview of ADAS functions and applications ii. SAE-defined vehicle autonomy levels: Classification of ADAS from level 1 to level 4 of vehicle autonomy, i.e., from assistive driving to full automation. iii. Intelligent transportation systems: ADAS for enhancing collective driving and addressing traffic congestion. 2. Longitudinal Vehicle Dynamics i. Aerodynamic drag force and rolling resistance ii. Drivetrain and transmission dynamics iii. Engine torque control for desired acceleration iv. Combined lower-level transmission dynamic model using feedback-linearization. 3. Lateral Vehicle Dynamics i. Kinematic model of lateral motion ii. Bicycle model of vehicle dynamics iii. Error dynamic model iv. Lateral dynamic model in terms of yaw rate and slip angle v. Model translation from body-fixed to global coordinate 4. Adaptive Cruise Control (ACC) Systems i. Conventional cruise control system: velocity control design and stability ii. Vehicle following specifications for ACC iii. Reference spacing policies for controller design: constant spacing, constant-time gap, and other nonlinear spacing functions. iv. Individual vehicle stability analysis of ACC systems. 5. Platooning Control Systems i. Introduction to vehicle platooning ii. Background on norms of signals and systems iii. String stability concepts iv. String stability analysis under different spacing policies v. Cooperative adaptive cruise control (CACC) systems vi. Role of vehicle-to-vehicle (V2V) communication on stability 6. Car-following Models i. Optimal Velocity Model (OVM) and extensions ii. Intelligent Driver Model (IDM): widely used in academia and industry iii. String stability of the car-following models 7. Antilock Braking Systems (ABS) i. ABS functions and importance in safety ii. Deceleration threshold-based algorithm iii. Other logic-based ABS control systems 8. Lane Keeping Systems i. State feedback control for lane keeping ii. Steady-state error analysis iii. Steady-state cornering iv. Unity feedback loop system v. Loop analysis with a P-controller and a lead compensator vi. Closed-loop performance analysis 9. Electronic Stability Control (ESC) i. Functioning of ESC system ii. Differential braking strategies iii. Controller design for steer-by-wire systems iv. Independent all-wheel drive torque distribution 10. Tire Dynamics and Modelling i. Longitudinal and lateral tire forces ii. Approximation of tire model for small slip angle iii. Empirical tire models: Pacejka`s and Dugoff`s tire models. iv. Dynamic tire models and limitations
Text / References
- 1 * Rajesh Rajamani, Vehicle Dynamics and Control, 2nd Ed., Springer Science & Business Media, 2. * Konrad Reif, Brakes, Brake control and Driver Assistance Systems: Function, Regulation and Components, Springer Vieweg, 2014. * Dieter Schramm, Manfred Hiller, and Roberto Bardini, Vehicle Dynamics: Modeling and Simulation, 2nd Ed. Springer-Verlag GmbH, 2018. * Uwe Kiencke and Lars Nielsen, Automotive Control Systems: For Engine, Driveline, and Vehicle, 2nd Ed. Springer-Verlag GmbH, 2005. * Martin Treiber and Arne Kesting, Traffic Flow Dynamics: Data, Models and Simulation, 1st Ed. Springer Berlin, 2013.