EE 7005 – Advanced Driver Assistance Systems

• Overview of ADAS functions and applications. SAE-defined vehicle autonomy levels: classification from level 1 to level 4, from assistive driving to full automation. Intelligent transportation systems: ADAS for enhancing collective driving and addressing traffic congestion.
• Aerodynamic drag force and rolling resistance. Drivetrain and transmission dynamics. Engine torque control for desired acceleration. Combined lower-level transmission dynamic model using feedback-linearization.
• Kinematic model of lateral motion. Bicycle model of vehicle dynamics. Error dynamic model. Lateral dynamic model in terms of yaw rate and slip angle. Model translation from body-fixed to global coordinate frame.
• Conventional cruise control system: velocity control design and stability. Vehicle following specifications for ACC. Reference spacing policies for controller design: constant spacing, constant-time gap, and other nonlinear spacing functions. Individual vehicle stability analysis of ACC systems.
• Introduction to vehicle platooning. Background on norms of signals and systems. String stability concepts and analysis under different spacing policies. Cooperative Adaptive Cruise Control (CACC) systems. Role of vehicle-to-vehicle (V2V) communication on stability.
• Optimal Velocity Model (OVM) and extensions. Intelligent Driver Model (IDM). String stability of car-following models.
• ABS functions and importance in safety. Deceleration threshold-based algorithm. Other logic-based ABS control systems.
• State feedback control for lane keeping. Steady-state error analysis. Steady-state cornering. Unity feedback loop system. Loop analysis with a P-controller and a lead compensator. Closed-loop performance analysis.
• Functioning of ESC system. Differential braking strategies. Controller design for steer-by-wire systems. Independent all-wheel drive torque distribution.
• Longitudinal and lateral tire forces. Approximation of tire model for small slip angle. Empirical tire models: Pacejka’s and Dugoff’s tire models. Dynamic tire models and limitations.

Text/References:

1. 1. Vehicle Dynamics and Control, 2nd Ed., Rajesh Rajamani, Springer Science & Business Media, 2012.
   2. Brakes, Brake Control and Driver Assistance Systems: Function, Regulation and Components, Konrad Reif, Springer Vieweg, 2014.
   3. Vehicle Dynamics: Modeling and Simulation, 2nd Ed., Dieter Schramm, Manfred Hiller, and Roberto Bardini, Springer-Verlag, 2018.
   4. Automotive Control Systems: For Engine, Driveline, and Vehicle, 2nd Ed., Uwe Kiencke and Lars Nielsen, Springer-Verlag, 2005.
   5. Traffic Flow Dynamics: Data, Models and Simulation, 1st Ed., Martin Treiber and Arne Kesting, Springer Berlin, 2013.