Hydrogen fuel cell technology has emerged as an efficient and clean alternative to internal combustion engines for powering vehicles, and hydrogen powertrains will aid in addressing key environmental issues such as urban air quality and global warming. This work demonstrates the effectiveness of a „hardware-in-loop‟ (HIL) simulation system for validating the safety and effectiveness of control algorithms for a hydrogen fuel cell hybrid passenger vehicle. A significant amount of the work completed in conjunction with the thesis topic was the design and construction of the fuel cell vehicle for competition. Producing a „rolling test bench‟ that generates data to be used to create HIL simulation models required nearly two years of work before an acceptable level of reliability was reached to produce usable data. Some detail will be given in this thesis regarding the infrastructure modifications required to safely build a hydrogen fuel cell vehicle, as well as the design challenges faced in the integration of a fuel cell power module, two electric drive motors, a nickel metal hydride battery, and required power electronics into a small sport utility vehicle originally designed for an internal combustion powertrain. The virtual control validation performed involved designing dynamic models of the systems of interest and performing real-time simulation to ensure that the appropriate controller response is observed. For this thesis, emphasis was placed on several key vehicle control topics. Communication robustness was evaluated to ensure that the complicated vehicle communication network could effectively handle traffic from the six powertrain sub-controllers. Safety algorithms were tested for appropriate response to fault conditions. Control systems were developed and tuned offline reducing the amount of time required for in-vehicle development and testing. Software-in-the-loop simulation was used to check initial code integrity and to validate the hardware-in-the-loop vehicle models. The methodology presented in this work was found to be sufficient for a thorough safety and rationality evaluation of control strategies for hybrid fuel cell vehicles.

This thesis involves modeling, controller design, and test case simulations for an underwater vehicle. Firstly, a complete dynamic model of the vehicle is developed with six degrees of freedom. The model includes the nonlinearities associated with the hydrodynamic forces and moments. The thrusters of the vehicle are also modeled. Then, using appropriate linearizations of the model, position and rate controllers are designed for the forward, downward, and turning motions of the vehicle. Finally, the designed controllers are tested for various maneuvers by means of simulations using the nonlinear dynamic model of the vehicle. The simulation results show that the designed controllers are quite satisfactory for the intended maneuvers.

Στόχος της εργασίας είναι η μοντελοποίηση και ο έλεγχος με τη χρήση υπολογιστή του συστήματος της πέδησης του αυτοκινήτου καθώς και της επιτάχυνσης (γκάζι - throttle) του κινητήρα. Για την πέδηση μελετήθηκε και υλοποιήθηκε στο Simulink το μοντέλο που περιγράφεται στην εργασία των Humair Raza, Zhigang Xu, Bingen Yang και Petros A. Ioannou με τον τίτλο “Modeling and Control Design for a Computer-Controlled Brake System”. Για την πέδηση και την επιτάχυνση, ενοποιημένα σε ένα ενιαίο μοντέλο που περιγράφει το όχημα, μελετήθηκε η εργασία των P. Ioannou και Z. Xu με τίτλο “Throttle and Brake Control Systems for Automatic Vehicle Following”, και στη συνέχεια υλοποιήθηκαν στο Simulink τα μοντέλα για την πέδηση και το throttle. Στην συνέχεια δοκιμάσαμε τους ελεγκτές εφαρμόζοντας διάφορες εισόδους (σενάρια φρεναρίσματος) και λάβαμε τις αναμενόμενες από τη θεωρία εξόδους, επαληθεύοντας έτσι την ορθότητά τους. / The aim of this study is to model and control with the computer the car brake system and the engine throttle. For the brake system we studied and implemented in the Simulink the model described in the work of Humair Raza, Zhigang Xu, Bingen Yang and Petros A. Ioannou titled "Modeling and Control Design for a Computer-Controlled Brake System ". For the braking and the acceleration, consolidated into a single model describing the vehicle, we studied the work of P. Ioannou, Z. Xu entitled "Throttle and Brake Control Systems for Automatic Vehicle Following ", and then we implemented the models in Simulink. Then we tried applying different controllers inputs (braking and acceleration scenarios) and we verified the models' correctness.

With the growing complexity of vehicle control systems it is becoming increasingly important to understand the interaction between drivers and vehicles. Existing driver models do not adequately characterise limitations resulting from drivers’ physical systems. In particular, sensory dynamics limit the ability of drivers to perceive the states of real or simulated vehicles. Therefore, the aim of this thesis is to understand the impact of sensory dynamics on the control performance of a human driver in real and virtual environments. A new model of driver steering control is developed based on optimal control and state estimation theory, incorporating models of sensory dynamics, delays and noise. Some results are taken from published literature, however recent studies have shown that sensory delays and noise amplitudes may increase during an active control task such as driving. Therefore, a parameter identification procedure is used to fit the model predictions to measured steering responses of real drivers in a simulator. The model is found to fit measured results well under a variety of conditions. An initial experiment is designed with the physical motion of the simulator matching the motion of the virtual vehicle at full scale. However, during more realistic manoeuvres the physical motion must be scaled or filtered, introducing conflicts between measurements from different sensory systems. Drivers are found to adapt to simple conflicts such as scaled motion, but they have difficulty adapting to more complicated motion filters. The driver model is initially derived for linear vehicles with stochastic target and disturbance signals. In later chapters it is extended to account for transient targets and disturbances and vehicles with nonlinear tyres, and validated once again with experimental results. A series of simulations is used to demonstrate novel insights into how drivers use sensory information, and the resulting impact on control performance. The new model is also shown to predict difficulties real drivers have controlling unstable vehicles more reliably than existing driver models.

<p>This thesis describes the development of a low-cost, low-power, accurate sensor designed for precise, feedback control of an autonomous vehicle to a hitch. Few studies have been completed on the hitching problem, yet it is an important challenge to be solved for vehicles in the agricultural and transportation industries. Existing sensor solutions are high cost, high power, and require modification to the hitch in order to work. Other potential sensor solutions such as LiDAR and Digital Fringe Projection suffer from these same fundamental problems. </p> <p>The solution that has been developed uses an active stereo vision system, combining classical stereo vision with a laser speckle projection system, which solves the correspondence problem experienced by classic stereo vision sensors. A third camera is added to the sensor for texture mapping. As a whole, the system cost is $188, with a power usage of 2.3 W.</p> <p>To test the system, a model test of the hitching problem was developed using an RC car and a target to represent a hitch. In the application, both the stereo system and the texture camera are used for measurement of the hitch, and a control system is implemented to precisely control the vehicle to the hitch. The system can successfully control the vehicle from within 35⁰ of perpendicular to the hitch, to a final position with an overall standard deviation of 3.0 mm of lateral error and 1.5⁰ of angular error. Ultimately, this is believed to be the first low power, low cost hitching system that does not require modification of the hitch in order to sense it. </p>

京都大学 / 0048 / 新制・課程博士 / 博士(情報学) / 甲第21918号 / 情博第701号 / 新制||情||120(附属図書館) / 京都大学大学院情報学研究科システム科学専攻 / (主査)准教授 西原 修, 教授 大塚 敏之, 教授 加納 学 / 学位規則第4条第1項該当 / Doctor of Informatics / Kyoto University / DFAM

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With the introduction of electronic control units to automotive vehicles, system complexity has increased. With this change in complexity, new standards have been created to ensure safety at the system level for these vehicles. Furthermore, vehicles have become increasingly complex with the push for electrification of automotive vehicles, which has resulted in the creation of hybrid electric and battery electric vehicles. The goal of this thesis is to provide an example of a hazard and operability analysis as well as a hazard and risk analysis for a hybrid electric vehicle. Additionally, the safety standards developed do not align well with educational prototype vehicles because the standards are designed for corporations. The hybrid vehicle supervisory controller example within this thesis demonstrates how to define a system and then perform system-level analytical techniques to identify potential failures and associated requirements. Ultimately, through this analysis suggestions are made on how best to reduce system complexity and improve system safety of a student built prototype vehicle. / Master of Science / With the introduction of electronic control units to automotive vehicles, system complexity has increased. With this change in complexity, new standards have been created to ensure safety at the system level for these vehicles. Furthermore, vehicles have become increasingly complex with the push for electrification of automotive vehicles, which has resulted in the creation of hybrid electric and battery electric vehicles. There are different ways for corporations to demonstrate adherence to these standards, however it is more difficult for student design projects to follow the same standards. Through the application of hazard and operability analysis and hazard and risk analysis on the hybrid vehicle supervisory controller, an example is provided for future students to follow the guidelines established by the safety standards. The end result is to develop system requirements to improve the safety of the prototype vehicle with the added benefit of making design changes to reduce the complexity of the student project.

O desenvolvimento tecnológico e o elevado investimento em tecnologias de veículos \"inteligentes\" vão, provavelmente, transformar veículos autônomos em realidade em alguns anos. A inserção de inteligência em veículos rodoviários visa obter uma redução nos acidentes de trânsito devido à mitigação de erros cometidos por motoristas humanos, graças à sua substituição por máquinas. Além disso, os veículos autônomos devem ser capazes de mitigar os perigos existentes nos sistemas de transporte rodoviário, sem criar novos riscos. Assim, é importante a pesquisa de como garantir a segurança crítica (safety) nesse novo cenário. Algumas pesquisas nesta área já vêm sendo desenvolvidas, porém elas não mostram como projetar um sistema veicular autônomo no qual se possa aplicar métodos já existentes para analisar e garantir níveis de segurança adequados em tais veículos. Frente a isso, este trabalho de mestrado desenvolve uma proposta que visa facilitar o desenvolvimento e a análise dessa nova classe de veículos, além de assegurar níveis de segurança crítica adequados aos veículos autônomos. A proposta é representada por um sistema denominado Controle Veicular Autônomo (CVA), o qual foi desenvolvido sob o conceito de Sistemas de Transporte Inteligentes (STI). O sistema CVA é formado por duas camadas, uma de operação (Operação Veicular Autônoma - OVA), responsável pela condução do veículo e outra de proteção (Proteção Veicular Autônoma - PVA). A ideia principal é que se utilize a camada PVA para a prevenção de acidentes. A camada PVA foi desenvolvida e testada em um ambiente de simulação, considerando um Estudo de Caso. Observou-se que, conforme previsto, o sistema CVA, por possuir uma camada voltada para a proteção veicular, conseguiu evitar diversas situações de colisões entre veículos. / Technological development and the massive investment in \'intelligent\' vehicle technologies are likely to turn autonomous vehicles into reality in a few years. The insertion intelligence in road vehicles aims to obtain a reduction in traffic accidents due to the mitigation of errors committed by human drivers, thanks to their replacement by machines. In addition, autonomous vehicles should be able to mitigate hazards in road transportation systems without creating new risks. Thus, It is important to study how to ensure safety in this new scenario. Some research in this area has already been developed, but they do not show how to design properly an autonomous vehicle system in which existing methods can be applied to analyze and guarantee adequate levels of safety in such vehicles. As a result, this master\'s work develops a proposal that aims to facilitate the development and analysis of this new class of vehicles, in addition to ensuring levels of critical safety appropriate to autonomous vehicles. The proposal is represented by a system called Autonomous Vehicle Control (CVA), which was developed under the concept of Intelligent Transport Systems (STI). The CVA system is formed by two layers, one of operation (Autonomous Vehicle Operation - OVA), responsible for the driving of the vehicle and another one of protection (Autonomous Vehicle Protection - PVA). The main idea is to use the PVA layer for the prevention of accidents. The PVA layer was developed and tested in a simulation environment, considering a Case Study. It was observed that, as predicted, the CVA system, because it has a layer aimed at vehicular protection, was able to avoid several collision situations between vehicles.