Difference between revisions of "Projects:2018s1-181 BMW Autonomous Vehicle"

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'''Project Description:'''
 
'''Project Description:'''
  
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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:
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== '''Sofeware Development''' ==
  
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• 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.
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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.
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• 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
 
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• 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
 
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MPC algorithm we are going to develop in our project.
 
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[[File: UsingMPC for vehicle.PNG]]
 
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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.
 

Revision as of 16:25, 21 October 2018

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.

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