<p>Driver Assistance Systems like Adaptive Cruise Control (ACC) can help prevent accidents by reducing the workload on the driver. However, this can only be accomplished if the driver can rely on the system to perform safely even in the presence of faults.</p> <p>In this thesis we develop an Adaptive Cruise Control model that will be used to investigate Hybrid Systems Fault Diagnosis techniques. System Identification is performed upon an electric motor to obtain its transfer function. This electric motor belongs to a 1/10th scale RC car that is being used as part of a test bench for the Adaptive Cruise Control system. The identified model is then used to design a hybrid controller which will switch between a set of LQR controllers to create an example Adaptive Cruise Controller. The model of the controller is then used to generate fixed point code for implementation on the testbed and validation against the model controller. Finally a detailed hazard analysis of the resulting system is performed using Leveson's STPA.</p> / Master of Applied Science (MASc)

Current thinking on the best propulsion system for a next-generation supersonic cruising (Mach 2 to Mach 4) aircraft is a mixed-flow turbofan engine with afterburner. This study investigates the performance increase of a turbofan engine through the use of isothermal combustion inside the high-pressure turbine (High-Pressure Turburner, HPTB) as an alternative form of thrust augmentation. A cycle analysis computer program is developed for accurate prediction of the engine performance and a supersonic transport cruising at Mach 2 at 60,000 ft is used to demonstrate the merit of using a turburner. When assuming no increase in turbine cooling flow is needed, the engine with HPTB could provide either 7.7% increase in cruise range or a 41% reduction in engine mass flow when compared to a traditional turbofan engine providing the sane thrust. If the required cooling flow in the turbine is almost doubled, the new engine with HPTB could still provide a 4.6% increase in range or 33% reduction in engine mass flow. In fact, the results also show that the degradation of engine performance because of increased cooling flow in a turburner is less than half of the degradation of engine performance because of increased cooling flow in a regular turbine. Therefore, a turbofan engine with HPTB will still easily out-perform a traditional turbofan when even more cooling than currently assumed is introduced. Closer examination of the simulation results in off-design regimes also shows that the new engine not only satisfies the thrust and efficiency requirement at the design cruise point, but also provides enough thrust and comparable or better efficiency in all other flight regimes such as transonic acceleration and take-off. Another finding is that the off-design bypass ratio of the new engine increases slower than a regular turbofan as the aircraft flies higher and faster. This behavior enables the new engine to maintain higher thrust over a larger flight envelope, crucial in developing faster air-breathing aircraft for the future. As a result, an engine with HPTB provides significant benefit both at the design point and in the off-design regimes, allowing smaller and more efficient engines for supersonic aircraft to be realized. / Ph. D.

Assuming that vehicle connectivity technology matures and connected vehicles hit the market, many of the running vehicles will be equipped with highly sophisticated sensors and communication hardware. Along with the goal of eliminating human distracted driving and increasing vehicle automation, it is necessary to develop novel intersection control strategies. Accordingly, the research presented in this dissertation develops an innovative system that controls the movement of vehicles using cooperative cruise control system (CACC) capabilities entitled: iCACC (intersection management using CACC). In the iCACC system, the main assumption is that the intersection controller receives vehicle requests from vehicles and advises each vehicle on the optimum course of action by ensuring no crashes occur while at the same time minimizing the intersection delay. In addition, an innovative framework has been developed (APP framework) using the iCACC platform to prioritize the movements of vehicles based on the number of passengers in the vehicle. Using CACC and vehicle-to-infrastructure connectivity, the system was also applied to a single-lane roundabout. In general terms, this application is considered quite similar to the concept of metering single-lane entrance ramps. The proposed iCACC system was tested and compared to three other intersection control strategies, namely: traffic signal control, an all-way stop control (AWSC), and a roundabout, considering different traffic demand levels ranging from low to high levels of congestion (volume-to-capacity ration from 0.2 to 0.9). The simulated results showed savings in delay and fuel consumption in the order of 90 to 45 %, respectively compared to AWSC and traffic signal control. Delays for the roundabout and the iCACC controller were comparable. The simulation results showed that fuel consumption for the iCACC controller was, on average, 33%, 45% and 11% lower than the fuel consumption for the traffic signal, AWSC and roundabout control strategies, respectively. In summary, the developed iCACC system is an innovative system because of its ability to optimize/model different levels of vehicle automation market penetrations, weather conditions, vehicle classes/models, shared movements, roundabouts, and passenger priority. In addition, the iCACC is capable of capturing the heterogeneity of roadway users (cyclists, pedestrians, etc.) using a video detection technique developed in this dissertation effort. It is anticipated that the research findings will contribute to the application of automated systems, connected vehicle technology, and the future of driverless vehicle management. Finally, the public acceptability of the new advanced in-vehicle technologies is a challenging task and this research will provide valuable feedback for researchers, automobile manufacturers, and decision makers in making the case to introduce such systems. / Ph. D.

Traffic signals typically produce vehicle stops and thus increase vehicle fuel consumption levels. Vehicle stops produced by traffic signals, decrease vehicle fuel economy on arterial roads making it significantly lower than that on freeways. Eco-Cooperative Adaptive Cruise Control (Eco-CACC) systems can improve vehicle fuel efficiency by receiving Signal Phasing and Timing (SPaT) data form downstream signalized intersections via vehicle-to-infrastructure communication. The algorithm that was developed in an earlier study provides advisory speed recommendations to drivers to reduce vehicle fuel consumption levels in the vicinity of traffic signalized intersections. The research presented in this thesis enhances the algorithm by adding a queue length estimation component and incorporates the algorithm in the INTEGRATION microscopic traffic simulation software to test the system under varying conditions. The enhanced Eco-CACC algorithm is then tested in a simulation environment considering different levels of connected vehicle (CV) market penetration levels. The simulation analysis demonstrates that the algorithm is able to reduce the vehicle fuel consumption level by as high as 40%. Moreover, the overall benefits of the proposed algorithm is evaluated for different intersection configurations and CV market penetration rates (MPRs). The results demonstrate that for single lane approaches, the algorithm can reduce the overall fuel consumption levels and that higher MPRs result in larger savings. While for multilane approaches, lower MPRs produce negative impacts on fuel efficiency; only when MPRs are greater than 30%, can the algorithm work effectively in reducing fuel consumption levels. Subsequently a sensitivity analysis is conducted. The sensitivity analysis demonstrates that higher market penetration rates of Eco-CACC enabled vehicles can improve the environmental benefits of the algorithm, and the overall savings in fuel consumption are as high as 19% when all vehicles are equipped with the system. While, on multi-lane approaches, the algorithm has negative impacts on fuel consumption levels when the market penetration rate is lower than 30 percent. The analysis also indicates that the length of control segments, the SPaT plan, and the traffic demand levels affect the algorithm performance significantly. The study further demonstrates that the algorithm has negative impacts on fuel consumption levels when the network is over-saturated. / Master of Science

Aviation industry is continuously growing especially for very long distance flights due to the globalisation of local economies around the world and the explosive economic growth in Asia. Reducing the time of intercontinental flights from 16-20 hours to 4 hours or less would therefore make the, already booming, ultra-long distance aviation sector even more attractive. To accomplish this drastic travel time reduction for civil transport, hypersonic cruise aircraft are considered as a potential cost-effective solution. Such vehicles should also be fuelled by liquid hydrogen, which is identified as the only viable propellant to achieve antipodal hypersonic flight with low environmental impact. Despite considerable research on hypersonic aircraft and hydrogen fuel, several major challenges should still be addressed before such airliner becomes reality. The current thesis is therefore motivated by the potential benefit of hydrogen-fuelled hypersonic cruise vehicles associated with their limited state-of-the-art.Hypersonic cruise aircraft require innovative structural configurations and thermal management solutions due to the extremely harsh flight environment, while the uncommon physical properties of liquid hydrogen, combined with high and long-term heat fluxes, introduce complex design and technological storage issues. Achieving hypersonic cruise vehicles is also complicated by the multidisciplinary nature of their design. In the scope of the present research, appropriate methodologies are developed to assess, design and optimize the thermo-structural model and the cryogenic fuel tanks of long-range hydrogen-fuelled hypersonic civil aircraft. Two notional vehicles, cruising at Mach 5 and Mach 8, are then investigated with the implemented methodologies. The design analysis of light yet highly insulated liquid hydrogen tanks for hypersonic cruise vehicles indicates an optimal gravimetric efficiency of 70-75% depending on insulation system, tank wall material, tank diameter, and flight profile. A combination of foam and load-bearing aerogel blanket leads to the lightest cryogenic tank for both the Mach 5 and the Mach 8 aircraft. If the aerogel blanket cannot be strengthened sufficiently so that it can bear the full load, then a combination of foam and fibrous insulation materials gives the best solution for both vehicles. The aero-thermal and structural design analysis of the Mach 5 cruiser shows that the lightest hot-structure is a titanium alloy construction made of honeycomb sandwich panels. This concept leads to a wing-body weight of 143.9 t, of which 36% accounts for the wing, 32% for the fuselage, and 32% for the cryogenic tanks. As expected, hypersonic thermal loads lead to important weight penalties (of more than 35%). The design of the insulated cold structure, however, demonstrates that the long-term high-speed flight of the airliner requires a substantial thermal protection system, such that the best configuration (obtained by load-bearing aerogel blanket) leads to a titanium cold design of only 4% lighter than the hot structure. Using aluminium 7075 rather than titanium offers a further weight saving of about 2%, resulting in a 135.4 t wing-body weight (with a contribution of 23%, 25%, 18% and 34% from the TPS, the wing, the fuselage, and the cryogenic tanks respectively). Given the design hypotheses, the difference in weight is not significant enough to make a decisive choice between hot and cold concepts. This requires the current methodologies to be further elaborated by relaxing the simplifications. Investigation of the thermal protection must be extended from one single point to different regions of the vehicle, and the TPS thickness and weight should be considered in the structural sizing of the cold design. More generally, the design process should be matured by including additional (static, dynamic and transient) loads, special structural concepts, multi-material configurations and other parameters such as cost and safety aspects. / Doctorat en Sciences de l'ingénieur et technologie / This thesis was conducted in co-tutelle between University of Sydney and Université Libre de Bruxelles.Professor Dries Verstraete was my supervisor at the University of Sydney (so as a member of SydneyUni), but is automatically registered here as a member of ULB because he worked at ULB almost ten years ago.Ben Thornber is also a member of the University of Sydney but the application does not save it for an unknown reason. / info:eu-repo/semantics/nonPublished

Stop-and-Go Adaptive Cruise Control (ACC+) is an extension of Adaptive Cruise Control (ACC) that works at low speed as well as normal highway speeds to regulate the speed of the vehicle relative to the vehicle it is following. In this thesis, we design an ACC+ controller for a scale model electric vehicle that ensures the robust performance of the system under various models of uncertainty. We capture the operation of the hybrid system via a state-chart model that performs mode switching between different digital controllers with additional decision logic to guarantee the collision freedom of the system under normal operation. We apply different controller design methods such as Linear Quadratic Regulator (LQR) and H-infinity and perform multiple simulation runs in MATLAB/Simulink to validate the performance of the proposed designs. We compare the practicality of our design with existing formally verified ACC designs from the literature. The comparisons show that the other formally verified designs exhibit unacceptable behaviour in the form of mode thrashing that produces excessive acceleration and deceleration of the vehicle. While simulations provide some assurance of safe operation of the system design, they do not guarantee system safety under all possible cases. To increase confidence in the system, we use Differential Dynamic Logic (dL) to formally state environmental assumptions and prove safety goals, including collision freedom. The verification is done in two stages. First, we identify the invariant required to ensure the safe operation of the system and we formally verify that the invariant preserves the safety property of any system with similar dynamics. This procedure provides a high level abstraction of a class of safe solutions for ACC+ system designs. Second, we show that our ACC+ system design is a refinement of the abstract model. The safety of the closed loop ACC+ system is proven by verifying bounds on the system variables using the KeYmaera verification tool for hybrid systems. The thesis demonstrates how practical ACC+ controller designs optimized for fuel economy, passenger comfort, etc., can be verified by showing that they are a refinement of the abstract high level design. / Thesis / Master of Applied Science (MASc)

Approved for public release, distribution is unlimited / Tomahawk cruise missiles (TCM) cost over one million dollars and are in short supply. U.S. Navy ships require TCM and other conventional ammunition be loaded in appropriate amounts prior to deploying to sea. A typical deployment lasts for six months and, when completed, any remaining ammunition must be unloaded and made ready for other deploying ships. For ships under Commander, Naval Surface Force U.S. Pacific Fleet (SURFPAC), about 3,500 tons of ammunition must be loaded and unloaded annually; this currently costs 14 million dollars for just pilots, tugboats and fuel. This thesis formulates and solves an integer linear program, Surface Navy Scheduler (SNSKED), to prescribe an ammunition load and unload schedule for San Diego homeported ships. SNSKED seeks a schedule with minimized costs subject to constraints on ships availability, port capabilities and support assets. We test SNSKED on a realistic quarterly scenario consisting of 19 combatant ships, three weapons stations, two ammunition ships, five mission types, two ammunition types, and three ways of loading ammunition. SNSKED provides optimal schedules that reduce costs by over 16 percent. We also use SNSKED to evaluate different operational policies, ammunition port utilization, and ammunition loading times. / Lieutenant Commander, United States Navy

M.Ing. (Electrical and Electronic Engineering) / Adaptive Cruise Control (ACC) is proposed to assist drivers tedious manual acceleration or braking of the vehicle, as well as with maintaining a safe headway time gap. This thesis proposes, simulates, and implements a vision-based ACC system which uses a single camera to obtain the clearance distance between the preceding vehicle and the ACC vehicle. A three-step vehicle detection framework is used to obtain the position of the lead vehicle in the image. The vehicle coordinates are used in conjunction with the lane width at that point to estimate the longitudinal clearance range. A Kalman filter filters this range signal and tracks the vehicle’s longitudinal position. Since image processing algorithms are computationally intensive, this document addresses how adaptive image cropping improves the update frequency of the vision-based range sensor. A basic model of a vehicle is then derived for which a Proportional-Integral (PI) controller with gain scheduling is used for ACC. A simulation of the system determines whether the ACC algorithm will work on an actual vehicle.

Este projeto apresenta o desenvolvimento de um controle longitudinal e lateral para um veículo terrestre de categoria pesada, usando o conceito de geração de curvas de Clothoids. O controle é em malha fechada, com realimentação de velocidade e posição global (X,Y) do veículo no plano bi-dimensional. Dentro de uma arquitetura de controle autônomo para um veículo, o controle longitudinal ajusta a velocidade de cruzeiro em função da trajetória e o lateral é responsável por regular a direção do volante e a sua correspondência para com os pneus, que por sua vez direcionam o veículo dentro da trajetória dada. Para este controle, para o modelo do veículo foi apenas considerado a estrutura do cavalo mecânico (conjunto monolítico formado pela cabine, motor e rodas de tração do caminhão), desprezando qualquer carga traseira engatado nele. Primeiramente será apresentada uma breve introdução abordando a história e projetos atuas de veículos autônomos, em seguida é feito uma revisão dos conceitos básicos usados no projeto. No capitulo seguinte é abordado o modelo matemático do veículo (cinemática e dinâmica) e logo em seguida teremos a secção que aborda sobre a estrutura de controle proposta. A seguir será apresentado a seção de discussão sobre a implementação e resultados práticos. Finalmente é apresentado a conclusão e uma breve descrição sobre trabalhos futuros. / This project presents the development of a longitudinal and lateral control for a Heavy Category Ground Vehicles, using the concept of generation of curves Clothoids. This control is closed loop with feedback speed and position (X,Y) ofvehicle in two-dimensional plane. Within an autonomous control architecture for a vehicle, the longitudinal control adjusts cruising speed on the path and the lateral control is responsible for regulating direction of steering wheel and its correspondence to the tires, which in turn drive the vehicle within the given path. For this control, the vehicle model we are only considering the horse (monolithic assembly formed by the cab, engine and truck drive wheels), disregarding any rear cargo engaged in it. First a brief introduction will be presented addressing the history and projects of autonomous vehicles, then it is made a review of the basic concepts used in the project. The next chapter is discussed the mathematical model of the vehicle (kinematics and dynamics) and soon we will have a section dealing on the proposed control structure.The following will show the discussion section on the implementation and practical results, then the conclusion and a brief description of future work.

<p>An Adaptive Cruise Controller (ACC) is an extension of an ordinary cruise controller. In addition to maintaining a desired set velocity, an ACC can also maintain a desired time gap to the vehicle ahead. For this end, both the engine andthe brakes are controlled. </p><p>The purpose with this thesis has been to develop control strategies for an ACC used in heavy vehicles. The focus of the work has been the methods used for switching between the use of engine and brake. Two different methods have been studied, a hybrid controller and an MPC-controller. </p><p>For the hybrid controller, the main contribution has been to use the influence of the surroundings on the acceleration of the truck. This consists of several parts such as wind drag, road slope and rolling resistance. The estimated influence of the surroundings is used as a switch point between the use of engine and brakes. Ideally, these switch points give bumpless actuator switches. </p><p>The interest in the MPC-controller as an alternative solution was to achieve automatic actuator switching, thus with no explicitly defined switch points. The MPC-controller is based on a model of the system including bounds on the control signals. Using this knowledge, the MPC-controller will choose the correct actuator for the current driving situation. </p><p>Results from simulations show that both methods solve the actuator switch problem. The advantages with the hybrid controller are that it is implementable in a truck with the hardware used today and that it is relatively simple to parameterise. A drawback is that explicit switch points between the uses of the different actuators have to be included. The advantages with the MPC-controller are that no explicit switch points have to be introduced and that constraints and time delays on signals in the system can be handled in a simple way. Among the drawbacks, it can be mentioned that the variant of MPC, used in this thesis, is too complex to implement in the control system currently used in trucks. One further important drawback is that MPC demands a mathematical model of the system.</p>