URL study guide
https://tue.osiris-student.nl/onderwijscatalogus/extern/cursus?cursuscode=4AT080&collegejaar=2025&taal=enOmschrijving
The main objective of this course is to obtain insight into longitudinal and lateral controller design for automated vehicles. Approximately half of the lectures will discuss vehicle body control systems, the other half is driver assistance control. For each controller, the sensors, actuators and algorithms will be discussed. Both the theoretical derivation as well as the practical implementation will be handled throughout the course. The following topics will be discussed:
- How to analyze vehicle models and derive control objectives from them
- Controlling the longitudinal vehicle dynamics through braking, specifically ABS control
- Single vehicle lateral control, i.e. ESC
- How to estimate unmeasurable vehicle states such as side slip angle and friction coefficient
- How to control the suspension to achieve optimal comfort and/or handling
- What sensors are involved with ADAS systems
- Cooperative adaptive cruise control
- Lateral (cooperative) control of autonomous vehicles
- Lateral vehicle control on the limits of handling
- Global and local path planning
Doelstellingen
After completing this course, the students are capable of- listing the shortcomings of uncontrolled vehicles and identify which control system should be used to improve the behavior of the vehicle
- summarize the requirements and imposed limitations of automotive control systems and indicate how the design of a control system affects the vehicle behavior.
- understanding the functional components of a vehicle dynamics control system and the functional components of a driver assistance control system and from this derive the limitations in automotive sensors and design state estimators to acquire unmeasurable states.
- explaining the limitations in automotive actuators and how they affect the controller design
- selecting a vehicle model used for control and understand the assumptions that were used to derive them
- applying existing control theory to automotive systems on all degrees of freedom of a single vehicle
- applying existing control theory to automotive systems on all degrees of freedom of multiple vehicles
- analyzing the stability of an uncontrolled and controlled vehicle and derive performance criteria from it
- tuning an automotive controller to achieve both stability in the sense of classical control theory as well as giving the best experience to the driver.
- understanding the in influence of the human in the (control) loop and how this influences target values for the control systems
- listing con icting requirements and the highly non-linear nature of automotive control systems, and based on existing models derive the requirements.
Beoordelingsmethode
AssignmentWritten examination