Projects - User contributions [en]

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T07:14:38Z

A1671324: /* Software Part Future Work */

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin
== Headline text ==

'''Supervisors:'''

Associate Professor Nesimi Ertugral

Mr. Robert Dollinger

'''Project Description:'''

== '''Sofeware Development''' ==
This project focus on MPC development for a steering system of the BMW autonomous vehicle. During this project, Model Predictive Controller toolbox in MATLAB Simulink will be used to develop the MPC controller which suits in our project. In addition, the vehicle model which was provided by Robert Dollinger in 2016 could not be used in Model Predictive Controller Toolbox in MATLAB due to errors. Therefore, In the software part, a new vehicle model will be developed and a Model Predictive Controller will be developed and used in the simulation part of this project. New software call Driving Scenario Designer will also be used to develop the reference track for simulating the new vehicle model and controller.

== '''MPC Introduction''' ==
Stability and safety are the most important factors of autonomous driving. MPC is a controller which has 2 important advantages to achieve the stability and safety of the autonomous vehicle’s steering system.

■ Advantage1: Constraints Handling
There are a lot of constraints (physical limitations) which need to be overcome when the car is driving on the road. MPC can handle constraints systematically and produce feasible solutions for our car. Its ability of constraints handling can provide stability and safety for our autonomous vehicle.

■ Advantage2: Optimization of the result
Although the result returned by MPC may not match the reference trajectory precisely, the result can still be optimized as hard as possible to get close to the given trajectory.

== '''Bicycle Model and state space equation for Vehicle Model''' ==

== '''First Level System Design''' ==

== '''Simulation Result''' ==

== '''Simulation Conclusion''' ==

== '''Software Part Future Work''' ==
The MPC controller that we developed can only acquire good performance results when the speed is 18km/h. In some cases, there will be 1.5 meters oversteer on the Y position when the vehicle tries to track and approach the reference path at the beginning. Therefore, we thought this oversteer was caused by the set parameters which were not properly measured. These parameters include cornering stiffness and moment of inertia of the vehicle. Hence, as a further development, a parameter estimator may be required and developed.

Secondly, as I mentioned above that the vehicle can only perform well at 18km/h, so an adaptive MPC controller may be needed to allow the vehicle to follow the reference path at different speeds.

By using the vehicle model, we observed that when the vehicle's velocity get close to 0, the state space model becomes unstable which is another problem that needs to be solved in the future work.

== '''Hardware Part''' ==

...due Sunday night.

== '''Reference''' ==

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T06:42:16Z

A1671324:

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T06:30:45Z

A1671324:

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T06:27:50Z

A1671324: /* Bicycle Model and state space equation for Vehicle Model */

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T06:27:30Z

A1671324:

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T06:12:51Z

A1671324: /* First Level System Design */

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin

'''Supervisors:'''

Assosciate Professor Nesimi Ertugral

Mr Robert Dollinger

'''Project Description:'''

== '''Sofeware Development''' ==
This project focus on MPC development for a steering system of the BMW autonomous vehicle. During this project, Model Predictive Controller toolbox in MATLAB Simulink will be used to develop the MPC controller which suits in our project. In addition, the vehicle model which was provided by Robert Dollinger in 2016 could not be used in Model Predictive Controller Toolbox in MATLAB due to errors. Therefore, In the software part, a new vehicle model will be developed and a Model Predictive Controller will be developed and used in the simulation part of this project. New software call Driving Scenario Designer will also be used to develop the reference track for simulating the new vehicle model and controller.

== '''First Level System Design''' ==

File:FLD.png

2018-10-21T06:08:54Z

A1671324: A1671324 uploaded a new version of "File:FLD.png"

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T06:08:11Z

A1671324: /* First Level System Design */

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin

'''Supervisors:'''

Assosciate Professor Nesimi Ertugral

Mr Robert Dollinger

'''Project Description:'''

== '''Sofeware Development''' ==
This project focus on MPC development for a steering system of the BMW autonomous vehicle. During this project, Model Predictive Controller toolbox in MATLAB Simulink will be used to develop the MPC controller which suits in our project. In addition, the vehicle model which was provided by Robert Dollinger in 2016 could not be used in Model Predictive Controller Toolbox in MATLAB due to errors. Therefore, In the software part, a new vehicle model will be developed and a Model Predictive Controller will be developed and used in the simulation part of this project. New software call Driving Scenario Designer will also be used to develop the reference track for simulating the new vehicle model and controller.

== '''First Level System Design''' ==
[[File:FLD.png]]

File:FLD.png

2018-10-21T06:07:13Z

A1671324:

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T06:06:26Z

A1671324: /* First Level System Design */

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin

'''Supervisors:'''

Assosciate Professor Nesimi Ertugral

Mr Robert Dollinger

'''Project Description:'''

== '''Sofeware Development''' ==
This project focus on MPC development for a steering system of the BMW autonomous vehicle. During this project, Model Predictive Controller toolbox in MATLAB Simulink will be used to develop the MPC controller which suits in our project. In addition, the vehicle model which was provided by Robert Dollinger in 2016 could not be used in Model Predictive Controller Toolbox in MATLAB due to errors. Therefore, In the software part, a new vehicle model will be developed and a Model Predictive Controller will be developed and used in the simulation part of this project. New software call Driving Scenario Designer will also be used to develop the reference track for simulating the new vehicle model and controller.

== '''First Level System Design''' ==
[[[File:System First Level Design]]]

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T06:05:29Z

A1671324: /* Sofeware Development */

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin

'''Supervisors:'''

Assosciate Professor Nesimi Ertugral

Mr Robert Dollinger

'''Project Description:'''

== '''Sofeware Development''' ==
This project focus on MPC development for a steering system of the BMW autonomous vehicle. During this project, Model Predictive Controller toolbox in MATLAB Simulink will be used to develop the MPC controller which suits in our project. In addition, the vehicle model which was provided by Robert Dollinger in 2016 could not be used in Model Predictive Controller Toolbox in MATLAB due to errors. Therefore, In the software part, a new vehicle model will be developed and a Model Predictive Controller will be developed and used in the simulation part of this project. New software call Driving Scenario Designer will also be used to develop the reference track for simulating the new vehicle model and controller.

== First Level System Design ==
[[File:System First Level Design]]

Projects:2018s1-181 BMW Autonomous Vehicle

2018-10-21T05:55:27Z

A1671324:

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin

'''Supervisors:'''

Assosciate Professor Nesimi Ertugral

Mr Robert Dollinger

'''Project Description:'''

== '''Sofeware Development''' ==

This project focus on MPC development for a steering system of the BMW autonomous vehicle. During this project, Model Predictive Controller toolbox in MATLAB Simulink will be used to develop the MPC controller which suits in our project. In addition, the vehicle model which was provided by Robert Dollinger in 2016 could not be used in Model Predictive Controller Toolbox in MATLAB due to errors. Therefore, In the software part, a new vehicle model will be developed and a Model Predictive Controller will be developed and used in the simulation part of this project. New software call Driving Scenario Designer will also be used to develop the reference track for simulating the new vehicle model and controller.

Projects:2018s1-181 BMW Autonomous Vehicle

2018-08-23T06:30:08Z

A1671324:

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin

'''Supervisors:'''

Assosciate Professor Nesimi Ertugral

Mr Robert Dollinger

'''Project Description:'''

In 2016, we have received a research vehicle from BMW and started to develop automated driving algorithms in 2017. This year we will focus on integration of automated driving functions. A test bench to validate and develop a hardware in the loop system for electric steering was also developed. This year, the setup requires improvements to withstand the high steering forces from the EPS (Electric Power Steering) rack. The test bench will also be used to test and validate various sensors, and they will be implemented, tested and validated in the test vehicle. The primary research focus will be given to enhancement of the vehicle control algorithm, including Model Predictive Control (MPC). An existing vehicle model will be used for offline implementation to test the performance of the controller and compare the performance. The three major steps involved in this project are:

• Introduction to the already existing control and integration of Hardware in the loop test bench with existing control algorithms. A validated vehicle model will be used to simulate driving behaviour.

• Integration of a position determination algorithm and integration of sensors in the vehicle and testing the algorithm in the real vehicle. The the algorithm will be enhanced using additional vehicle information

• Development of a MPC controller for vehicle control with integration inside the vehicle. o Analysis of the performance of the controller o Comparison to PID controller

MPC algorithm we are going to develop in our project.
[[File: UsingMPC for vehicle.PNG]]

In our project, we are going to reconstruct our own vehicle model which has [6*1] state vector . and these [6*1] vector will contain the states x and y(position information of the vehicle) which will be the feedback input of our MPC controller. The reference of the MPC controller will be the reference path of our vehicle model. MPC toolbox in Simulink will be used in this project.

Projects:2018s1-181 BMW Autonomous Vehicle

2018-08-23T06:23:31Z

A1671324:

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin

'''Supervisors:'''

Assosciate Professor Nesimi Ertugral

Mr Robert Dollinger

'''Project Description:'''

In 2016, we have received a research vehicle from BMW and started to develop automated driving algorithms in 2017. This year we will focus on integration of automated driving functions. A test bench to validate and develop a hardware in the loop system for electric steering was also developed. This year, the setup requires improvements to withstand the high steering forces from the EPS (Electric Power Steering) rack. The test bench will also be used to test and validate various sensors, and they will be implemented, tested and validated in the test vehicle. The primary research focus will be given to enhancement of the vehicle control algorithm, including Model Predictive Control (MPC). An existing vehicle model will be used for offline implementation to test the performance of the controller and compare the performance. The three major steps involved in this project are:

• Introduction to the already existing control and integration of Hardware in the loop test bench with existing control algorithms. A validated vehicle model will be used to simulate driving behaviour.

• Integration of a position determination algorithm and integration of sensors in the vehicle and testing the algorithm in the real vehicle. The the algorithm will be enhanced using additional vehicle information

• Development of a MPC controller for vehicle control with integration inside the vehicle. o Analysis of the performance of the controller o Comparison to PID controller

MPC algorithm we are going to develop in our project.
[[File: UsingMPC for vehicle.PNG]]

Projects:2018s1-181 BMW Autonomous Vehicle

2018-08-23T06:20:19Z

A1671324:

'''Students:'''

Corey Miller

Kaifeng Ren

Muhammad Sufyaan Bin Mohd Faiz

Ovini Amaya Perera

Yiduo Yin

'''Supervisors:'''

Assosciate Professor Nesimi Ertugral

Mr Robert Dollinger

'''Project Description:'''

In 2016, we have received a research vehicle from BMW and started to develop automated driving algorithms in 2017. This year we will focus on integration of automated driving functions. A test bench to validate and develop a hardware in the loop system for electric steering was also developed. This year, the setup requires improvements to withstand the high steering forces from the EPS (Electric Power Steering) rack. The test bench will also be used to test and validate various sensors, and they will be implemented, tested and validated in the test vehicle. The primary research focus will be given to enhancement of the vehicle control algorithm, including Model Predictive Control (MPC). An existing vehicle model will be used for offline implementation to test the performance of the controller and compare the performance. The three major steps involved in this project are:

• Introduction to the already existing control and integration of Hardware in the loop test bench with existing control algorithms. A validated vehicle model will be used to simulate driving behaviour.

• Integration of a position determination algorithm and integration of sensors in the vehicle and testing the algorithm in the real vehicle. The the algorithm will be enhanced using additional vehicle information

• Development of a MPC controller for vehicle control with integration inside the vehicle. o Analysis of the performance of the controller o Comparison to PID controller

MPC algorithm we are going to develop in our project.
[[File:]]

File:UsingMPC for vehicle.PNG

2018-08-23T06:18:46Z

A1671324: