Dissertations / Theses on the topic 'Decoupled lateral and longitudinal control'
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Legrand, Romain. "Suivi de trajectoire autonome et robuste en milieu agricole." Electronic Thesis or Diss., Ecole nationale supérieure Mines-Télécom Atlantique Bretagne Pays de la Loire, 2022. http://www.theses.fr/2022IMTA0330.
The automation of off-road vehicles has become nowadays a strategic line of research given the recent and profound mutations of agricultural practices. This thesis deals with the conception of two independent controllers of an off-road vehicle, regulating both longitudinal and lateral dynamics. The first regulator aims to minimize the deviations with respect to a reference path by controlling the steering angles. It relies on anextended bicycle model that accounts for the slopes and load transfers. The H2/H∞ multi-objective synthesis allows the consideration of large model uncertainties. The adaptability of this controller is enhanced by the feedback/feedforward architecture which ensures the global robustness of the regulator. The second controller regulates the longitudinal dynamics of the vehicle. It lies on model predictive control. Anti-slip and anti-rollover constraints are explicitly defined during the synthesis of the regulator to ensure the stability of the off-road vehicle operating on slippery sloping grounds. The designed controllers have been tested on a realistic simulator which takes account of great load transfers within the vehicle, which are common in agricultural context. Both controllers have demonstrated satisfactory performances while exploring a variety of slopes and speeds
Agostinho, Solander Patrício Lopes. "Controle longitudinal e lateral para veículos terrestres de categoria pesada." Universidade de São Paulo, 2015. http://www.teses.usp.br/teses/disponiveis/18/18153/tde-16122015-082915/.
This project presents the development of a longitudinal and lateral control for a Heavy Category Ground Vehicles, using the concept of generation of curves Clothoids. This control is closed loop with feedback speed and position (X,Y) ofvehicle in two-dimensional plane. Within an autonomous control architecture for a vehicle, the longitudinal control adjusts cruising speed on the path and the lateral control is responsible for regulating direction of steering wheel and its correspondence to the tires, which in turn drive the vehicle within the given path. For this control, the vehicle model we are only considering the horse (monolithic assembly formed by the cab, engine and truck drive wheels), disregarding any rear cargo engaged in it. First a brief introduction will be presented addressing the history and projects of autonomous vehicles, then it is made a review of the basic concepts used in the project. The next chapter is discussed the mathematical model of the vehicle (kinematics and dynamics) and soon we will have a section dealing on the proposed control structure.The following will show the discussion section on the implementation and practical results, then the conclusion and a brief description of future work.
Olsson, Christian. "Model Complexity and Coupling of Longitudinal and Lateral Control in Autonomous Vehicles Using Model Predictive Control." Thesis, KTH, Reglerteknik, 2015. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-175389.
Schnelle, Scott C. "Development of Personalized Lateral and Longitudinal Driver Behavior Models for Optimal Human-Vehicle Interactive Control." The Ohio State University, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=osu1480362246357462.
Alvarez, Juan Camilo. "Estimation of the Longitudinal and Lateral Velocities of a Vehicle using Extended Kalman Filters." Thesis, Georgia Institute of Technology, 2006. http://hdl.handle.net/1853/13951.
Rojek, Fredric W. "Development of a mathematical model that simulates the longitudinal, and lateral-directional response of the F/A-18 for the study of flight control reconfiguration." Thesis, Monterey, California: U.S. Naval Postgraduate School, 1986. http://hdl.handle.net/10945/21787.
Polack, Philip. "Cohérence et stabilité des systèmes hiérarchiques de planification et de contrôle pour la conduite automatisée." Thesis, Paris Sciences et Lettres (ComUE), 2018. http://www.theses.fr/2018PSLEM025/document.
Autonomous vehicles are believed to reduce the number of deaths and casualties on the roads while improving the traffic efficiency. However, before their mass deployment on open public roads, their safety must be guaranteed at all time.Therefore, this thesis deals with the motion planning and control architecture for autonomous vehicles and claims that the intention of the vehicle must match with its actual actions. For that purpose, the kinematic and dynamic feasibility of the reference trajectory should be ensured. Otherwise, the controller which is blind to obstacles is unable to track it, setting the ego-vehicle and other traffic participants in jeopardy. The proposed architecture uses Model Predictive Control based on a kinematic bicycle model for planning safe reference trajectories. Its feasibility is ensured by adding a dynamic constraint on the steering angle which has been derived in this work in order to ensure the validity of the kinematic bicycle model. Several high-frequency controllers are then compared and their assets and drawbacks are highlighted. Finally, some preliminary work on model-free controllers and their application to automotive control are presented. In particular, an efficient tuning method is proposed and implemented successfully on the experimental vehicle of ENSIAME in collaboration with the laboratory LAMIH of Valenciennes
Guillet, Audrey. "Commande locale décentralisée de robots mobiles en formation en milieu naturel." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22609/document.
This thesis focuses on the issue of the control of a formation of wheeled mobile robots travelling in off-road conditions. The goal of the application is to follow a reference trajectory (entirely or partially) known beforehand. Each robot of the fleet has to track this trajectory while coordinating its motion with the other robots in order to maintain a formation described as a set of desired distances between vehicles. The off-road context has to be considered thoroughly as it creates perturbations in the motion of the robots. The contact of the tire on an irregular and slippery ground induces significant slipping and skidding. These phenomena are hardly measurable with direct sensors, therefore an observer is set up in order to get an estimation of their value. The skidding effect is included in the evolution of each robot as a side-slip angle, thus creating an extended kinematic model of evolution. From this model, adaptive control laws on steering angle and velocity for each robot are designed independently. These permit to control respectively the lateral distance to the trajectory and the curvilinear interdistance of the robot to a target. Predictive control techniques lead then to extend these control laws in order to account for the actuators behavior so that positioning errors due to the delay of the robot response to the commands are cancelled. The elementary control law on the velocity control ensures an accurate longitudinal positioning of a robot with respect to a target. It serves as a base for a global fleet control strategy which declines the overall formation maintaining goal in local positioning objective for each robot. A bidirectionnal control strategy is designed, in which each robot defines 2 targets, the immediate preceding and following robot in the fleet. The velocity control of a robot is finally defined as a linear combination of the two velocity commands obtained by the elementary control law for each target. The linear combination parameters are investigated, first defining constant parameters for which the stability of the formation is proved through Lyapunov techniques, then considering the effect of variable coefficients in order to adapt in real time the overall behavior of the formation. The formation configuration can indeed be prone to evolve, for application purposes and to guarantee the security of the robots. To fulfill this latter requirement, each robot of the fleet estimates in real time a minimal stopping distance in case of emergency and two avoidance trajectories to get around the preceding vehicle if this one suddenly stops. Given the initial configuration of the formation and the emergency behaviors calculated, the desired distances between the robots can be adapted so that the new configuration thus described ensures the security of each and every robot of the formation against potential collisions
Penco, Dario. "Contrôle véhicule autonome. Contrôle robuste et haute performance pour permettre les manœuvres à haute dynamique des véhicules autonomes." Electronic Thesis or Diss., université Paris-Saclay, 2022. http://www.theses.fr/2022UPASG039.
The work proposed in this thesis is in the context of autonomous driving. In particular, the objective is the development of a control law for path tracking of collision avoidance maneuvers for an autonomous vehicle.Several non-linear models of the vehicle, capable of representing its behavior in high dynamics maneuvers, are presented. The purpose is to obtain a model for the synthesis of the controllers. The different vehicle models proposed take into consideration the dynamics of the longitudinal, lateral and yaw vehicle speeds. That allows to use the models for the synthesis of controllers that deals simultaneously with vehicle longitudinal and lateral control. Moreover, a non-linear model for tire forces and the variable representation for load transfer have been used for the vehicle models. In fact, the representation of the non-linear behavior of the tires, influenced by the load transfer, is critical in high dynamics maneuvers. Some simulation results allow to compare the different vehicle models and to choose the model used for the controllers synthesis.A linear time-variant model is obtained through the linearization of the chosen non-linear model. The LPV polytopic and grid-based approaches are then used to define two LPV models.Several controllers, static and dynamic, have been developed using the two LPV models. These controllers combine the wheels steering ang torques to stabilize the vehicle and to guarantee the vehicle path tracking on a set of collision avoidance maneuvers. The synthesis of the controllers is done using robust and optimal control methods, through the resolution of optimization problems subjected to LMI constraints. The saturations of the control signals and of the tire forces are taken into consideration in the control synthesis in order to maximize the region of attraction of the system in closed loop.Several simulation results, obtained using a high representativity simulation model, allow to asses the closed loop system performances in presence of non-zero initial conditions and parameter dispersions
Zhao, Jin. "Contribution à la commande d'un train de véhicules intelligents." Phd thesis, Ecole Centrale de Lille, 2010. http://tel.archives-ouvertes.fr/tel-00586081.
Tmejová, Tereza. "Model řidiče pro simulační algoritmy." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417521.
Richier, Mathieu. "Conception de dispositifs actifs de maintien de stabilité pour les véhicules évoluant en milieux naturels." Phd thesis, Université Blaise Pascal - Clermont-Ferrand II, 2013. http://tel.archives-ouvertes.fr/tel-01066614.
Guo, Chunshi. "Conception des principes de coopération conducteur-véhicule pour les systèmes de conduite automatisée." Thesis, Valenciennes, 2017. http://www.theses.fr/2017VALE0020/document.
Given rapid advancement of automated driving (AD) technologies in recent years, major car makers promise the commercialization of AD vehicles within one decade from now. However, how the automation should interact with human drivers remains an open question. The objective of this thesis is to design, develop and evaluate interaction principles for AD systems that can cooperate with a human driver. Considering the complexity of such a human-machine system, this thesis begins with proposing two general cooperation principles and a hierarchical cooperative control architecture to lay a common basis for interaction and system design in the defined use cases. Since the proposed principles address a dynamic driving environment involving manually driven vehicles, the AD vehicle needs to understand it and to share its situational awareness with the driver for efficient cooperation. This thesis first proposes a representation formalism of the driving scene in the Frenet frame to facilitate the creation of the spatial awareness of the AD system. An adaptive vehicle longitudinal trajectory prediction method is also presented. Based on maneuver detection and jerk estimation, this method yields better prediction accuracy than the method based on constant acceleration assumption. As case studies, this thesis implements two cooperation principles for two use cases respectively. In the first use case of highway merging management, this thesis proposes a cooperative longitudinal control framework featuring an ad-hoc maneuver planning function and a model predictive control (MPC) based trajectory generation for transient maneuvers. This framework can automatically handle a merging vehicle, and at the mean time it offers the driver a possibility to change the intention of the system. In another use case concerning highway lane positioning and lane changing, a shared steering control problem is formulated in MPC framework. By adapting the weight on the stage cost and implementing dynamic constraints online, the MPC ensures seamless control transfer between the system and the driver while conveying potential hazards through haptic feedback. Both of the designed systems are evaluated through user tests on driving simulator. Finally, human factors issue and user’s perception on these new interaction paradigms are discussed
Mohamed, Ahmed Mohamed Mahmoud. "Contrôle et commande d'une flotte de véhicules autonomes." Electronic Thesis or Diss., Aix-Marseille, 2021. http://www.theses.fr/2021AIXM0626.
The works of this thesis are focused on the control and command of a fleet of many vehicles (4 to 10 vehicles). A longitudinal control is proposed based on the decentralized global approach, for which the information of the leader and the predecessor are assumed to be available to compute the control law using a linearization control by inverse dynamics. This control concept allows to follow a reference speed imposed by the leading vehicle, while respecting a safety distance (variable and constant) to avoid collisions. The longitudinal control is coupled with the lateral control that uses a sliding mode approach to follow the leader's desired trajectory. In addition, different sliding mode observers are developed. These observers are intended to calculate the nonlinear dynamics in the controls of each vehicle. The fleet is treated secondly in the multi-lane trajectories (line configuration). Two control approaches are proposed to control the vehicles in the different lanes (three lanes: i, j and k). The vehicles are controlled in the first strategy to follow the speed of the leader. However, in the second approach, the desired speed of the leader is modified when a lateral movement is present in order to respect the fleet notion. The vehicles are also controlled to avoid obstacles and switch to the next lane by generating an obstacle avoidance trajectory that takes into account the safety distance between the vehicles and the obstacle, and between the vehicles themselves
Novák, Jiří. "Návrh autopilota a letových řídících módů v prostředí Simulink." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-416616.
Denis, Dieumet. "Contribution à la modélisation et à la commande de robots mobiles reconfigurables en milieu tout-terrain : application à la stabilité dynamique d'engins agricoles." Thesis, Clermont-Ferrand 2, 2015. http://www.theses.fr/2015CLF22565/document.
This work is focused on the thematic of the maintenance of the dynamic stability of off-road vehicles. Indeed, driving vehicles in off-road environment remains a dangerous and harsh activity because of the variable and bad grip conditions associated to a large diversity of terrains. Driving difficulties may be also encountered when considering huge machines with possible reconfiguration of their mechanical properties (changes in mass and centre of gravity height for instance). As a consequence, for the sole agriculture sector, several fatal injuries are reported per year in particular due to rollover situations. Passive protections (ROllover Protective Structure - ROPS) are installed on tractors to reduce accident consequences. However, protection capabilities of these structures are very limited and the latter cannot be embedded on bigger machines due to mechanical design limitations. Furthermore, driving assistance systems (such as ESP or ABS) have been deeply studied for on-road vehicles and successfully improve safety. These systems usually assume that the vehicle Center of Gravity (CG) height is low and that the vehicles are operating on smooth and level terrain. Since these assumptions are not satisfied when considering off-road vehicles with a high CG, such devices cannot be applied directly. Consequently, this work proposes to address this research problem by studying relevant stability metrics able to evaluate in real time the rollover risk in order to develop active safety devices dedicated to off-road vehicles. In order to keep a feasible industrialization of the conceived active safety device, the use of compatible sensors with the cost of the machines was one of the major commercial and societal requirements of the project. The ambitious goal of this study was achieved by different routes. First, a multi-scale modeling approach allowed to characterize the dynamic evolution of off-road vehicles. This partial dynamic approach has offered the advantage of developing sufficiently accurate models to be representative of the actual behavior of the machine but having a relatively simple structure for high-performance control systems. Then, a comparative study of the advantages and drawbacks of the three main families of metrics found in the literature has helped to highlight the interest of dynamic stability metrics at the expense to categories of so-called static and empirical stability criteria. Finally, a thorough analysis of dynamic metrics has facilitated the choice of three indicators (Longitudinal and Lateral Load Transfer (LLT), Force Angle Stability Measurement (FASM) and Dynamic Energy Stability Measurement (DESM)) that are representative of an imminent rollover risk. The following of the document is based on the observation theory for estimating online of variables which are not directly measurable in off-road environment such as slip and cornering stiffnesses. Coupled to the dynamic models of the vehicle, the theory of observers has helped therefore to estimate in real time the tire-soil interaction forces which are necessaries for evaluating indicators of instability. The coupling of these multiscale models to the observation theory has formed an original positioning capable to break the complexity of the characterization of the stability of vehicles having complex and uncertain dynamics. (...)
Narmack, Kirilll. "Dynamic Speed Adaptation for Curves using Machine Learning." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233545.
Morgondagens fordon kommer att vara mer sofistikerade, intelligenta och säkra än dagens fordon. Framtiden lutar mot fullständigt autonoma fordon. Detta examensarbete tillhandahåller en datadriven lösning för ett hastighetsanpassningssystem som kan beräkna ett fordons hastighet i kurvor som är lämpligt för förarens körstil, vägens egenskaper och rådande väder. Ett hastighetsanpassningssystem för kurvor har som mål att beräkna en fordonshastighet för kurvor som kan användas i Advanced Driver Assistance Systems (ADAS) eller Autonomous Driving (AD) applikationer. Detta examensarbete utfördes på Volvo Car Corporation. Litteratur kring hastighetsanpassningssystem samt faktorer som påverkar ett fordons hastighet i kurvor studerades. Naturalistisk bilkörningsdata samlades genom att köra bil samt extraherades från Volvos databas och bearbetades. Ett nytt hastighetsanpassningssystem uppfanns, implementerades samt utvärderades. Hastighetsanpassningssystemet visade sig vara kapabelt till att beräkna en lämplig fordonshastighet för förarens körstil under rådande väderförhållanden och vägens egenskaper. Två olika artificiella neuronnätverk samt två matematiska modeller användes för att beräkna fordonets hastighet. Dessa metoder jämfördes och utvärderades.
Dixit, Girish G. "Decoupled Lateral Directional Flight Control System Design Using Eigenstructure Assignment Method." Thesis, 1997. https://etd.iisc.ac.in/handle/2005/1773.
Dixit, Girish G. "Decoupled Lateral Directional Flight Control System Design Using Eigenstructure Assignment Method." Thesis, 1997. http://etd.iisc.ernet.in/handle/2005/1773.
Macedo, Miguel Marques. "Combined Lateral and Longitudinal Control for Vehicle Platooning." Master's thesis, 2021. https://hdl.handle.net/10216/137495.
yu, Shiuh-penng, and 余序鵬. "Modeling Driver Longitudinal and Lateral Control using Adaptive Model Predictive Control." Thesis, 2009. http://ndltd.ncl.edu.tw/handle/37012453902889009910.
國立臺灣科技大學
機械工程系
97
The adaptive model predictive control (AMPC) is employed in this research to construct a driver longitudinal and lateral control model during a high speed turning driving scenario. A vehicle model describing the vehicle longitudinal and lateral dynamics is chosen and used as the plant under control for the driver model. The outputs from the driver model consist of the front steering angle and the longitudinal acceleration. The AMPC compensates the vehicle dynamics by predicting the future output based on the internal plant model. Furthermore, the variations in the plant model can be updated in the AMPC algorithm and the control strategy can be adjusted according to the updated plant model, thus emulating the human driver's adaptation behavior. The model simulation results are compared with the experimental data collected from a test vehicle with several subject human drivers. The vehicle is equipped with the VBOX to measure its position via GPS, an IMU to measure the motion variables, and an encoder to measure the steering wheel angle. The road geometric information is also derived using the recorded data from the VBOX. The comparison between the simulated and experimental results indicate that the derived AMPC describes the human control characteristics during turning with acceptable fidelity.
Chiang, Hsin-Han, and 蔣欣翰. "Longitudinal and Lateral Control Design for Vehicle Automated Driving." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/22854486715632678868.
國立交通大學
電機與控制工程系所
96
Vehicle automation is an important research topoic of advanced vehicle systems (AVS). Taiwan iTS-1 is an experimental autonomous vehicle developed by National Chiao Tung University (NCTU). In this dissertation, a complete process of developing a multi-mode automated driving system is presented. This process consists of control objectives determination, system configuration design, vehicle dynamics modeling and validation, control algorithm development, and on-road testing. A hierarchical-control structure is proposed in the system to achieve the integrated longitudinal and lateral vehicle control. Upper-level control perceives road environment and determines the proper and safe operation modes including lane-keeping, lane-change, cruise control, adaptive cruise control, and stop-and-go. In each mode, the desired-velocity and reference-trajectory are primarily determined, and then are forwarded to vehicle-body control. To incorporate well driving tasks of human drivers into our system, vehicle-body control utilizes the fuzzy control technique to regulate the vehicle to adapt to the desired command (velocity and trajectory). In addition to the decision-making scheme, our system can mimic a human’s intelligence and behavior to manage throttle, brake, and steering actuators in a driver-compatible way. Besides, to consider the coupling effects between the longitudinal and the lateral motion of a vehicle, a nonlinear three-degree-of-freedom vehicle dynamics is developed for a combined longitudinal and lateral vehicle controlling design. This controller is subsequently evaluated on a virtual vehicle in CarSim with remarkable results. The developed system has been verified repeatedly on highway and urban environments, respectively, with great success.
Shih, Shang-yuan, and 施上元. "Modeling of Driver Longitudinal and Lateral Control using Nonlinear Model Predictive Control." Thesis, 2014. http://ndltd.ncl.edu.tw/handle/b956f7.
國立臺灣科技大學
機械工程系
102
In this research, by using Nonlinear Model Predictive Control (NMPC), a driver model is proposed, which is capable of controlling CarSim® vehicle model by applying steering wheel angle, engine throttle, and brake in simulation. In order to maintain success in different simulations, the models of both vehicle and the parts inside, such as engine, tire, and bake system … etc., should be included in prediction model. For describing different considerations in driver’s thought, multiple objectives and constraints are included in NMPC. In result, by different arrangements in weightings and constraints, the NMPC driver model behaves differently in driving style. In further research, by using the ability of NMPC which can solve nonlinear optimization problems, we discussed driver’s tendency of ignoring small lateral error from center of lane and the nonlinear behavior in tire. In order to describe the tendency of ignoring small lateral error, we used a nonlinear objective function. Furthermore, during the simulation of high speed cornering, we also verified that the prediction model with different accuracy will affect the control capability of the driver model.
Yu-ChiehChen and 陳煜傑. "Integrated Longitudinal/Lateral Dynamics and Control of a Moving Web." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/58809507695536600157.
Pérez, Rastelli Joshué. "Agentes de control de vehículos autónomos en entornos urbanos y autovías." Phd thesis, 2012. http://tel.archives-ouvertes.fr/tel-00732953.
Montani, Margherita. "Development of a hierarchical architecture for real-time autonomous vehicle control." Doctoral thesis, 2022. http://hdl.handle.net/2158/1276700.