leoking99的专栏

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This paper presents a pseudospectral strategy for lane change maneuvers of automated vehicles on the highway. This strategy can optimize the longitudinal and lateral control simultaneously to account for the coupled vehicle dynamics while adapting to the dynamical traffic environment. First, the modeling of vehicle dynamics and lane change process are developed. Accordingly, a finite state machine with different lane change behaviors is designed. Then, the dynamical vehicle-traffc systems are evaluated and categorized with a state occupancy grid model to consider the impact of interactions with traffic systems. Finally, the control of automated vehicles for lane change maneuver are formulated as multi-stage optimal control problems (OCPs), and solved with the hp-adaptive pseudospectral strategy. The proposed approach is validated through simulation result

This paper presents a model predictive control (MPC) scheme for the stabilization of high-speed autonomous ground vehicles (AGVs) considering the effect of road topography. Accounting for the road curvature and bank angle, a single-track dynamic model with roll dynamics is derived. Variable time-steps are utilized for vehicle model discretization, enabling collision avoidance in the long-term without compromising the prediction accuracy in the near-term. Accordingly, safe driving constraints such as sideslip envelope, zero-moment-point, and lateral safety corridor are developed for the handling stability and obstacle avoidance. Taking these constraints into account, an MPC problem is formulated and solved at each step to determine the optimal steering control commands. Moreover, feedback corrections are integrated into the MPC to compensate the unmodeled dynamics and parameters uncertainties. Simulations carried out in Matlab/CarSim environment validated the capability and real-time ability of the proposed control scheme.

Lane change maneuver of high-speed automated vehicles is complicated since it involves highly nonlinear vehicle dynamics, which is critical for the driving safety and handling stability. Addressing this challenge, we present the dynamic modeling and control of high-speed automated vehicles for lane change maneuver. A nonlinear single-track vehicle dynamics model and a multi-segment lane change process model are employed. Variable time-steps are utilized for the vehicle model discretization to ensure a long enough prediction horizon while maintaining model fidelity and computational feasibility. A nonlinear single-track vehicle dynamics model and a multi-segment lane change process model are employed. Variable time-steps are utilized for the vehicle model discretization to ensure a long enough prediction horizon while maintaining model fidelity and computational feasibility. Accordingly, the control of lane change maneuver is addressed in two successive stages. First, by considering the lane change maneuver as primarily a longitudinal control problem, velocity profiles are determined to ensure the longitudinal safety of this maneuver. Then, the associated lateral control is generated with a model predictive controller, taking the handling stability envelope, coupled tire forces and environmental constraints into account.

在高速无人驾驶车辆的运动规划与跟踪控制过程中，滑移和侧倾是很难克服的高度非线性约束，特别是在复杂地形条件下，容易导致车辆失控甚至侧翻。通过研究地形因素对车辆转向特性和稳定性的影响，建立了高速车辆的等效动力学模型，并提出了一种变步长的模型离散化方法，能够在保证车辆模型置信度的基础上，实现较长的轨迹预测时域，同时满足计算实时性的要求。针对高速无人驾驶车辆的滑移和侧倾等操控稳定性约束，通过对车辆稳定行驶状态进行分析，推导了基于包络线和零力矩点的高速车辆稳定性约束条件。根据在高速、滑移、侧倾等复杂约束下的车辆安全行驶的要求，运用模型预测控制算法求解最优运动轨迹及跟踪控制序列，并能在车辆避障与操控稳定性发生冲突时优先保证车辆的无碰撞轨迹。仿真试验结果表明，该方法可以有效的考虑道路曲率和地形对高速车辆动力学特性的影响，同时能在保证车辆行驶安全的前提下，防止车辆出现滑移和侧倾等现象

通过分析路面附着条件和道路曲率等因素对车辆转向特性和稳定性的影响，建立了高速车辆的等效动力学模型。提出了一种变步长的模型离散化方法，能够在保证车辆模型预测精度的基础上，实现较长的预测时域，并满足计算实时性的要求。通过对高速车辆稳定行驶状态进行分析，推导了基于包络线的滑移稳定性约束条件，并设计了基于模型预测控制的高速无人驾驶车辆的轨迹跟踪控制器。仿真结果表明，该方法可以有效地保证高速无人驾驶车辆在不同的地面附着情况及道路曲率下的操控稳定性。

针对无人平台系统开放性和安全性的需求,提出了一种开放式模块化的混合体系结构。

The longitudinal control of an autonomous vehicle usually suffers from lateral interruptions, such as the cutting in/out of the lead vehicle, deteriorating its performance and even endangering driving safety. To address this problem, we present a model predictive-based approach for longitudinal control in autonomous driving by taking the lateral interruptions into account.

A kind of virtual instrument based data acquisition for vehicle test

A virtual instrument based test platform for shifting process

针对NI虚拟设备的介绍，结合某所拥有的板卡和平台，介绍各种设备的特点。

摄像机标定介绍，坐标系转换方法和畸变消除方法

介绍了DSP进行外扩RAM的相关想法，及出现的问题总结