Wyniki wyszukiwania - Biblioteka Nauki

1

Robust trajectory tracking control for autonomous vehicle subject to velocity-varying and uncertain lateral disturbance

100%

Wang Y. , Gao S. , Wang Y. , Wang P. , Zhou Y. , Xu Y.

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2021

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tom Vol. 57, iss. 1

7--23

EN

Autonomous vehicles are the most advanced intelligent vehicles and will play an important role in reducing traffic accidents, saving energy and reducing emission. Motion control for trajectory tracking is one of the core issues in the field of autonomous vehicle research. According to the characteristics of strong nonlinearity, uncertainty and changing longitudinal velocity for autonomous vehicles at high speed steering condition, the robust trajectory tracking control is studied. Firstly, the vehicle system models are established and the novel target longitudinal velocity planning is carried out. This velocity planning method can not only ensure that the autonomous vehicle operates in a strong nonlinear coupling state in bend, but also easy to be constructed. Then, taking the lateral location deviation minimizing to zero as the lateral control objective, a robust active disturbance rejection control path tracking controller is designed along with an extended state observer which can deal with the varying velocity and uncertain lateral disturbance effectively. Additionally, the feed for ward-feedback control method is adopted to control the total tire torque, which is distributed according to the steering characteristics of the vehicle for additional yaw moment to enhance vehicle handing stability. Finally, the robustness of the proposed controller is evaluated under velocity-varying condition and sudden lateral disturbance. The single-lane change maneuver and double-lane change maneuver under vary longitudinal velocity and different road adhesions are both simulated. The simulation results based on Matlab/Simulink show that the proposed controller can accurately observe the external disturbances and have good performance in trajectory tracking and handing stability. The maximum lateral error reduces by 0.18 meters compared with a vehicle that controlled by a feedback-feedforward path tracking controller in the single-lane change maneuver. The lateral deviation is still very small even in the double lane change case of abrupt curvature. It should be noted that our proposed control algorithm is simple and robust, thus provide great potential for engineering application.

2

Założenia i obecne etapy wdrażania rozwiązań autonomicznych w logistyce – przykłady oraz zalety i wady wprowadzania innowacji

86%

Szwedun N. , Urban K.

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tom Vol. 4, nr 1

187--196

PL

Tematyka poruszana w artykule dotyczy przyszłości transportu widzianej w innowacyjnych projektach o działaniu autonomicznym. Rozpoczęcie rzeczywistego wdrażania środków lokomocji sterowanych w inny sposób niż przy wsparciu osoby kierującej, stanowi wyzwanie zarówno dla świata inżynierów jak i przyszłych potencjalnych pasażerów. Prócz przedstawienia teorii działania oraz kategoryzacji funkcjonalności pojazdów autonomicznych, zaprezentowane zostaną obecne etapy realizacji przykładowych projektów na całym świecie z różnych rodzajów przewozów dóbr i osób. Pracę uwieńczy syntetyczne zestawienie pozytywnych i negatywnych aspektów wdrażania innowacji widziane w głównej części oczami ekspertów.

EN

The main problem raised in the article is about future of transport seen in innovations, autonomous projects. Starting the implementation of new vehicle controlled in a different way than is known is a challenge for both the world of engineers and future potential passengers. In addition will be presented present stages of implementing autonomous solutions all around the world in personal and cargo transport. At the end it will be placed a synthetic table with positive and negative sites.

3

An embedded beamformer for a PID-based trajectory sensing for an autonomous vehicle

86%

Mvemba P. K. , Lay-Ekuakille A. , Kidiamboko S. , Rahman M. Z. U.

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tom Vol. 25, nr 3

561--575

EN

Beamforming is an advanced signal processing technique used in sensor arrays for directional signal transmission or reception. The paper deals with a system based on an ultrasound transmitter and an array of receivers, to determine the distance to an obstacle by measuring the time of flight and - using the phase beamforming technique to process the output signals of receivers for finding the direction from which the reflected signal is received - locates the obstacle. The embedded beam-former interacts with a PID-based line follower robot to improve performance of the line follower navigation algorithm by detecting and avoiding obstacles. The PID (proportional-integral-derivative) algorithm is also typically used to control industrial processes. It calculates the difference between a measured value and a desired set of points, then attempts to minimize the error by adjusting the output. The overall navigation system combines a PID-based trajectory follower with a spatial-temporal filter (beamformer) that uses the output of an array of sensors to extract signals received from an obstacle in a particular direction in order to guide an autonomous vehicle or a robot along a safe path.

4

Criminal liability of self-driving vehicles under Hungarian criminal law

72%

Hodula M.

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tom 100

113-125

EN

As self-driving evolves day by day, the accidents attributed to such technology will increase as well. If the legal environment does not prepare for these cases, the ‘liabilityvacuum’ caused by the diverging court practices could lead to the rejection of the self-driving vehicles both by the consumers and the legislators. I am approaching the various questions posed by this technology from a continental standpoint, therefore the research examines the liability of the natural persons behind the technology. If we can provide possible answers to these issues, then the criminal liability of legal persons – an unfamiliar concept from the standpoint of the majority of the continental criminal law regimes – does not have to be applied to answer the central questions. If the national rules can determine the obligations of the natural persons travelling in a self-driving vehicle, their criminal liability can be decided accordingly and there is no need to create new offences.

5

System sterowania autonomicznego pojazdu A-EVE

72%

Długosz M. , Roman M. , Węgrzyn P.

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tom R. 97, nr 8

42--47

PL

W artykule opisano koncepcję układu sterowania prototypowego autonomicznego pojazdu elektrycznego A-EVE. Opracowano koncepcję dwupoziomowego układu sterowania który składa się z układu sterowania niskopoziomowego i wysokopoziomowego. W pracy opisano kluczowe elementy autonomicznego pojazdu A-EVE takie jak sensory, układ sterowania, układy bezpieczenstwa. Przeanalizowano wpływ flagi kompilacji programu sterownika niskiego poziomu na czas wykonywania programu sterowania.

EN

The paper presented the concept of the control system of the prototype electric autonomous vehicle A-EVE. The proposed control system is a two-level of control system which contain a low level and a high level control system. The paper describes the key elements of the autonomous A-EVE vehicle, such as sensors, control system, and safety systems. Additionally, the impact of the program compilation flag for the low-level control program execution time was analyzed.

6

Driverless mobility and the geographic analysis of contemporary autonomous vehicles startup ecosystem

58%

Bezruchonak A.

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tom nr 21(4)

7--13

EN

Over 50 billion US dollars had been invested into autonomous vehicles (AV) technology in 2013-2017. Driverless cars of the level 4 and 5 are forecasted to be in mass production after 2028 and the annual direct and indirect social and economic input of the AV technology is estimated to be over US $1.8-2.8 trillion in 2030. The purpose of this paper is to analyze the geographic structure of AV startup ecosystem, which is considered as one of the most significant disruptive and game-changing innovations of the nearest decades. The geographic analysis was carried out for 265 AV tech companies and startups, working on solutions to the following problem areas: services, infrastructure, in-car assistance and intelligence, safety, security, autonomy, sensors, materials and manufacturing. The key findings outline that the USA is the leader on the innovative AV market ecosystem (accounting for 57% of all startups) with the highest concentration near San Francisco Bay Area Core (more than 27% of all startups), followed up with a significant gap by Israel, India, UK and Canada. The main factors that define the level of readiness for autonomous vehicles, and, thus, the geography of diffusion of AVs innovation are regulatory and legislative environment, level of transportation and communication infrastructure development and public perception.