Projects:2018s1-181 BMW Autonomous Vehicle

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.

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.