overview of the intelligent vehicles and systems group
DESCRIPTION
Overview of the Intelligent Vehicles and Systems Group. Penn State University by Dr. S. Brennan. See http://controlfreaks.mne.psu.edu for more info. An introduction to Sean Brennan. Youngest faculty with full appointment in ME, 5th year currently - PowerPoint PPT PresentationTRANSCRIPT
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See http://controlfreaks.mne.psu.edu for more info
Penn State University
by
Dr. S. Brennan
Overview of the Intelligent Vehiclesand Systems Group
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An introduction to Sean Brennan
• Youngest faculty with full appointment in ME, 5th year currently– Graduated from the University of Illinois at Urbana-Champaign
– Experimentalist at heart, focus on chassis dynamics, systems engineering, and control
• Service– Chair of ASME Automotive and Transportation Systems Committee
– National Academies Transportation Visualization Committee
– Organizer for: ASME DSCC conf, IEEE Conf on Control Applications
– Faculty advisor for Penn State Robotics Club, AUVSI Competition
• Teaching:– Department teaching award, 2006, College teaching award in 2007
– SAE Teetor award, 2008
• Research:– $3 million in ongoing research across 6 research labs
– Support 10 to 15 grad students, 10 undergrad researchers
– Selected as top papers at ’07 IFAC Advances in Automotive Control
– Best paper in session, 2007 ASME IMECE
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We do vehicle dynamics and control…
That’s me doing ademonstration for myVehicle Dynamics course,Spring 2008!
See http://controlfreaks.mne.psu.edu for more info
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Advanced estimation and virtual driving…
See http://controlfreaks.mne.psu.edu for more info
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Robotics and systems integration…
See http://controlfreaks.mne.psu.edu for more info
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Outline
• Vehicle dynamics
• Advanced estimation
• Robotics and systems
See http://controlfreaks.mne.psu.edu for more info
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Vehicle Dynamics
Jack-knifing scale vehicles
4 wheel steering High-speed ground robots Passenger vehicle and hybrid vehicle control Heavy Vehicle Reliability
Hybrid-electric militaryvehicles
See http://controlfreaks.mne.psu.edu for more info
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Full-scale vehicle dynamics testingThe facility:
• PTI Test Track – One of a few closed-access University-owned test-track facilities
– Built to accommodate passenger and heavy vehicles,
– Only facility certified for bus chassis testing
Handling area with100 and 150 ft radius turning
circles
72-inch Rollerchassis
dynamometer
Calibrated pavements anddurability segments
1 mileoval Barrier-free
roadside
Half-mile, 4-lane straight-line segmentfor frequency-responses
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Vehicle dynamics and model fitting
“looking under rocks”
Vishi, Sittikorn, John, Bridget, Ryan, Dennis,…
• Experimental testing– We rarely trust other people’s models. Despite many claiming that they are
“rock solid”, it’s the muddy fits that are of interest to us.
– As a consequence, nearly every student in my group is trained in vehicle dynamic validation and data collection
See http://controlfreaks.mne.psu.edu for more info
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Model FittingFrequency Response – Roll Angle
100
101
-40
-30
-20
-10
0Steering Angle to Roll
w (rad/s)
Mag
(d
B)
100
101
-250
-200
-150
-100
-50
0
50
w (rad/s)
Ph
ase
(deg
)
Data-Large AmpData-Small AmpSprung OnlySprung+UnsprungAsymmetric
Data-Large AmpData-Small AmpSprung OnlySprung+UnsprungAsymmetric
See http://controlfreaks.mne.psu.edu for more info
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Model Fits – Time Domainlane change
10 12 14 16 18 20-3
-2
-1
0
1
2
3Time vs. Roll Angle
Time (sec)R
oll
(deg
)
measuredSprung+Unsprung+GUnsprung OnlySprung+UnsprungAssymetric
11 12 13 14 15 16 17 18 19 20-0.5
-0.4
-0.3
-0.2
-0.1
0
0.1
0.2
0.3
0.4
0.5Time vs. Lateral Velocity
Time (sec)
Lat
eral
Vel
oc
ity
(m/s
)
measuredbicycle+lagSprung+Unsprung+GUnsprung OnlySprung+UnsprungAssymetric
11 12 13 14 15 16 17 18 19 20-25
-20
-15
-10
-5
0
5
10
15
20
25Time vs. Yaw Rate
Time (sec)
Yaw
Rat
e (d
eg/s
)
measuredbicycle+lagSprung+Unsprung+GUnsprung OnlySprung+UnsprungAssymetric
Yaw Rate Roll* Lateral Velocity
Difficulty: easy
* Assuming terrain influence is removed – more later
Difficulty: medium Difficulty: hard
See http://controlfreaks.mne.psu.edu for more info
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Scale vehicle dynamics – dangerous scenarios“playing with toys”
For many instances of vehicle testing, the use of a full-sized vehicle is costly and dangerous, and yet simulations are onerous and questionable to build
One solution often used is a reduced-scale vehicle.
Mathematics of dimensional analysis allows results to map between behaviors of a scaledvehicle and those of a full-sized vehicle.
Sittikorn, Alexia, Andrew, Janine, Gareth…
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Some examples
1:5 scale
wheel-lift characterization
1:14 scale jacknifing 1:8 scale vision-tracking
1:8 scale autonomous motorcycle
1:5 scale
Platooning dynamics
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1:5 scale
Multi-input system
- Each axle is independently steered
- Each wheel has independent torque control
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0 2 4 6 8 10 12 14 16 18 20-0.5
0
0.5
Po
sitio
n (m
) Measured PredictedReference
0 2 4 6 8 10 12 14 16 18 20-0.5
0
0.5
Ya
w A
ngle
(ra
d) Measured
Predicted
0 2 4 6 8 10 12 14 16 18 20
-0.5
0
0.5
Fro
nt S
tee
r A
ngle
(ra
d)
Time (sec)
Measured Predicted
See http://controlfreaks.mne.psu.edu for more info
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Comparisons between vehicles…“our hobby is collecting vehicle data”
Sittikorn, Mariona, Haftay, Dennis, Jon
• Use same techniques as used in wind-tunnels, Buckingham Pi Theorem
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Comparisons between vehicles…“our hobby is collecting vehicle data”
Sittikorn, Mariona, Haftay, Dennis, Jon
L
a1
L
b2
23 mU
LC f 24 mU
LC r
25 mL
I z
abmI
Index
z
2
Dynamic
25 mL
I z
from publications
from NHTSA database
Outlier data
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Advanced estimation
Vehicle-terrain interaction Advanced sensor fusion Redundant estimation
Path of Lidar Sensor
Bridge with cement barriers on either side
See http://controlfreaks.mne.psu.edu for more info
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The influence of terrainBridget
• Road grade investigated for steady state circle at various speeds
• When aligned based on path distance covered, the road grade measurement is very repetitive irregardless of speed
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The influence of terrainBridget
10 12 14 16 18 20-3
-2
-1
0
1
2
3Time vs. Roll Angle
Time (sec)
Ro
ll (d
eg)
measuredmeasured minus low speed rollRoll Model
Because feedback gains are directly related to modeling error, disturbance cancellation enables much higher gains and hence better tracking in closed-loop control.
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Terrain as a sensorGPS was never meant to be trusted for feedback control
Adam, Ryan, Vishi
Off-line Localization using Pearson Correlation Coefficient
By comparing pitch disturbances with a terrain map, we are able to resolve longitudinal position as good as
10 cm0 20 40 60 80 100 120 140 160 180-2.5
-2
-1.5
-1
-0.5
0
0.5
1
Distance (m)
Roa
d G
rade
(de
g)
Road Grade Correlation Sample 3
map
data
Max Correlation = 0.9893
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Terrain as a sensorLearning as you go…
Adam, Ryan, Vishi
Representative visualization of your work
Real-time Localization using Particle Filters
Tested again at the track: we are able to resolve longitudinal position to 0.5 meters after traveling about 100 meters, with no GPS or other signals
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Mapping terrainPramod
The goal of this work is to map road features and thereby correlate results to accident causation and eventually prevention
Impact: 2000+ lives saved a year!
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Oct ‘07
Dec ‘07
Nov ‘07
Mar ‘08
Apr ‘08
See http://controlfreaks.mne.psu.edu for more info
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Mapping terrain
• Shown at right is a banked curve from the test track
• Getting 10 to 30 scans per second out to 80 meters of range.
• Accuracy on the order of 6 cm at best case (perfect GPS).
• Actual error is on the order of a meter or less.
Path of Lidar Sensor
Asphalt Roadway
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Example bridge section
Path of Lidar Sensor
Asphalt Roadway
Bridge with cement barriers on either side
See http://controlfreaks.mne.psu.edu for more info
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See http://controlfreaks.mne.psu.edu for more info
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Advanced sensor fusion: how to utilize map-based position?
Vishi, Adam
Can get orientation!
•Real and virtual scenes are compared.
•Preliminary results show orientation accuracies of 0.1 deg
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See http://controlfreaks.mne.psu.edu for more info
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Automation and systems integration
4 wheel steeringHigh-speed ground robots Hybrid-electric military vehiclesAutonomous vehicle testing
See http://controlfreaks.mne.psu.edu for more info
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Solving automation challenges…
• Problem: need standardized interface to measure driver inputs to the steering system and hence tire
Senior project?
• Want to measure driver steering torque and backlash effects caused by steering systems, suspension, tire behavior, etc.
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Off-road modelingPreventing the accident in the first place
Bridget, Jason
Currently using Monte-Carlo methods and CarSim to analyze the effect of highway geometry on accident causation
See http://controlfreaks.mne.psu.edu for more info
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Predicting and preventing unintended roadway departure
• According to FHWA, 60% of vehicle fatalities occurred after leaving the lane
• High-gain control combined with terrain maps gives an unprecedented opportunity to mitigate this through the steering input
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Efficiency improvements by sensor fusion“anticipating the road ahead”
Nan, Alexia, Vishi
See http://controlfreaks.mne.psu.edu for more info
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HEMTT Starter SystemHIL Project
• Army is spending $30 million+ each month on premature battery failure
• Project: ultracapacitor switchover– More reliable starts
– Vastly increase battery life
– Adaptive to extreme environmental temperatures
• (HIL) Test Stand Simulator– Simulates HEMTT engine,
alternator, battery and ultra-capacitor
– Responds to inputs from actual HEMTT starter motor
– Records speeds and torques of starter motor and engine
See http://controlfreaks.mne.psu.edu for more info
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Why is battery management necessary?
For unmanned vehicles, logistics and support costs are also important, but vehicle runtime and operator safety are paramount (example: EOD bots)
For manned vehicles, reliability is important, but logistics and support costs are huge
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Campus-wide hardware-in-the-loop project
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The goal of this work is to accelerate hybrid vehicle powertrain development
Distributed Powertrain System
• Utilize campus-wide Ethernet
• Incorporate existing labs
• Integrate with industrial facilities
Faculty Participants: Dr. Sean N. BrennanLab/Center Name: GATE Hardware-in-the-LoopSponsor: DOE
Ultracapacitor
Driving SimulatorBatteryFuel Cell
Chassis DynoIC EngineElectric Motor
Flywheel
See http://controlfreaks.mne.psu.edu for more info
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Analyzing reliability of PTI bus testing results
• Collecting reliability data from transit agencies around USA
• Comparing transit agency data with PTI test track data to assess their validity
Faculty Participants: Prof. Sean BrennanLab/Center Name: Pennsylvania Transportation InstituteSponsor: Federal Transit Administration
Future Work:
• Develop a predictive failure model to aid transit agencies in making purchase decisions
2.2 2.4 2.6 2.8 3 3.2 3.4 3.6
x 105
0
5
10
15
20
25
30
35
40
45
Distance (in miles)
Fa
ilure
s p
er
last
10
,00
0 m
iles
Falure Rate Distribution of Pittsburgh 5002
Replace Air Compressor 234,026
Replace Trans. - 240,688
Replace Differential - 277,664 Replace Left Rear Axle - 285,520
Replace Trans. (Undefined) - 302,366
Cumulative
Drivetrain
A/C HeatSuspension
Transmission
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See http://controlfreaks.mne.psu.edu for more info
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See http://controlfreaks.mne.psu.edu for more info
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See http://controlfreaks.mne.psu.edu for more info
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Allometric Design and Stability Relationships for Explosive Ordinance Robots
Real-time Localization using Particle Filters
•By comparing inertial disturbances with a terrain map, we are able to resolve longitudinal position to 0.5 meters after traveling about 100 meters, with no GPS or other signals
Participants: Brennan, Dean, Logan, Labs: Intelligent Vehicles and Systems Group, ARL, EDOGSponsor: NAVEOD (DoD)
Read more:• Guizzo, Erico. “$280 Million Robot Dustup,” IEEE Spectrum, p. 10-13, Vol. 44, No. 12, North American Edition, December 2007.
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New frontiers
• Recently initiated studies on human-vehicle interaction using a recently donated immersive driving simulator
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New frontiers: remote semi-autonomy and driver assist
Nan, Alexia, Vishi
Use immersive driving simulator to remotely guide vehicles through pre-mapped terrain.
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Thanks to supporters!
The National Science Foundation – funded research into fundamentals of dynamic behavior through several student fellowships. (~$200k)
The National Academy of Science, The Transportation Research Board – funded roadway scanning and terrain modeling (~$300k)
Army TACOM – currently funding HIL work (~$1M)
The Federal Transit Agency – funded test track and vehicle systems used on the track such as the DGPS/IMU system (track ~$14M, current project ~$300k)
Naval Explosive Ordinance Disposal – currently funding robotics work (~$600k)
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Questions?
• Vehicle dynamics
• Advanced estimation
• Robotics and systems
See http://controlfreaks.mne.psu.edu for more info