Smart Control for Electric/Autonomous Vehicles

Smart Control for Electric/Autonomous Vehicles

2 CONTENTS Introduction Benefits and market prospective How autonomous vehicles work Some research applications TEINVEIN

3 Introduction What is the global context regarding transportation?

4 Introduction Urbanization process global urbanization rapidly increased and it is expected to continue ref. World Urbanization Prospects: The 2014 Revision

5 Introduction Technological Improvements reduction of cost of electronic components boost in available computing power new emerging technologies

6 Introduction User habits attention to sustainability policies ownership less appealing sharing services

7 Benefits and market prospective Transportation issues (areas of intervention) road safety traffic efficiency space consumption pollution mobility costs service quality mobility access for people that can t drive ref. Boston Consulting Group

8 Benefits and market prospective Road Safety also an economical issue that costs approximately 3% of GDP The primary cause of around 94% of total crashes is wrong human behavior ref. Global status report on road safety 2015

9 Benefits and market prospective Automotive macro-trends ref. McKinsey&Company

10 How autonomous vehicles work How is a Driverless car made?

11 How autonomous vehicles work Levels of Automation (summary) ref. SAE

12 How autonomous vehicles work General Framework of a driverless car Driving Actions Software Architecture System Simulated / Real Physical System Road structure Motion Planning Actuation Control Vehicle Dynamic Obs motion Decisional Algorithm Self-localization Wold Environment Environment Perception 4D Environment reconstruction Raw data processing Measures

13 How autonomous vehicles work Hardware configuration: class S 500 Mercedes Bertha

14 How autonomous vehicles work Hardware configuration: Carnegie Mellon University Boss GPS/IMU: (APLX) Applanix POS-LV 220/420 Lidar: (LMS) SICK LMS 291-S05/S14 Lidar: (HDL) Velodyne HDL-64 Lidar: (ISF) Continental ISF 172 Lidar: (XT) IBEO Alasca XT Radar: (ARS) Continental ARS 300 Radar Point Grey Firefly (PGF) High dynamic range camera

15 How autonomous vehicles work Software configuration: class S 500 Mercedes Bertha

16 Some research applications Sensor fusion Path planning Testing: RC vehicles Testing: full scale vehicles (TEINVEIN project)

17 Some research applications Image Processing and pose estimation Lane detection Lane centre estimation on frame Projection into vehicle s reference Fitting on clothoid model Vehicle s pose

18 Some research applications Sensor fusion Path planning Testing: RC vehicles Testing: full scale vehicles (TEINVEIN project)

19 Some research applications Simple maneuvers ref. Autonomous vehicle controlled by safety path planner with collision risk estimation coupled with a non-linear MPC Stefano Arrigoni, et al

20 Some research applications More complex maneuvers

21 Some research applications More complex maneuvers

22 Some research applications Very complex maneuvers

23 Some research applications Sensor fusion Path planning Testing: RC vehicles Testing: full scale vehicles (TEINVEIN project)

24 Some research applications RC autonomous vehicles Targets of the logic: Minimize lateral displacement wrt the centerline of the road Avoid collision between vehicles ref. A Cooperative Driving NLMPC for Real Time Collision Avoidance Ugo Rosolia, et al

25 Some research applications Sensor fusion Path planning Testing: RC vehicles Testing: full scale vehicles (TEINVEIN project)

26 Some research applications TEcnologie INnovative per i VEicoli INtelligenti

27 Some research applications Automatization

28 Some research applications Sensing system (2) (4) (1) (3) (5) GPS + IMU (1) Camera (2) Lidar (3) Radar (4) Ultrasonic sensors (5)

29 Thank you for your kind attention!