https://www.tandfonline.com/doi/pdf/10.1080/15472450.2017.1291351

Policy and society related implications of automated driving: A review of literature and directions for future research

Trajectories drawn in a common reference system by all the vehicles on a road are the ultimate empirical data to investigate traffic dynamics. The vast amount of such data made freely available by the Next Generation SIMulation (NGSIM) program is therefore opening up new horizons in studying traffic flow theory. Yet the quality of trajectory data and its impact on the reliability of related studies was a vastly underestimated problem in the traffic literature even before the availability of NGSIM data. The absence of established methods to assess data accuracy and even of a common understanding of the problem makes it hard to speak of reproducibility of experiments and objective comparison of results, in particular in a research field where the complexity of human behaviour is an intrinsic challenge to the scientific method. Therefore this paper intends to design quantitative methods to inspect trajectory data. To this aim first the structure of the error on point measurements and its propagation on the space travelled are investigated. Analytical evidence of the bias propagated in the vehicle trajectory functions and a related consistency requirement are given. Literature on estimation/filtering techniques is then reviewed in light of this requirement and a number of error statistics suitable to inspect trajectory data are proposed. The designed methodology, involving jerk analysis, consistency analysis and spectral analysis, is then applied to the complete set of NGSIM databases.

On the assessment of vehicle trajectory data accuracy and application to the Next Generation SIMulation (NGSIM) program data

In this paper, we propose a novel reference model-based control approach for automotive longitudinal control. The reference model is nonlinear and provides dynamic solutions consistent with safety constraints and comfort specifications. The model is based on physical laws of compliant contact and has the particularity that its solutions can be explicitly described by integral curves. This allows to characterize the set of initial condition for which the constraints can be met. This model is combined with a simple feedback loop used to compensate unmodeled dynamics and external disturbances. Model simulations together with experimental results are also presented

A Safe Longitudinal Control for Adaptive Cruise Control and Stop-and-Go Scenarios

This book is a companion text to Active Control of Sound by P.A. Nelson and S.J. Elliott, also published by Academic Press. It summarizes the principles underlying active vibration control and its practical applications by combining material from vibrations, mechanics, signal processing, acoustics, and control theory. The emphasis of the book is on the active control of waves in structures, the active isolation of vibrations, the use of distributed strain actuators and sensors, and the active control of structurally radiated sound. The feedforward control of deterministic disturbances, the active control of structural waves and the active isolation of vibrations are covered in detail, as well as the more conventional work on modal feedback. The principles of the transducers used as actuateors and sensors for such control strategies are also given an in-depth description. The reader will find particularly interesting the two chapters on the active control of sound radiation from structures: active structural acoustic control. The reason for controlling high frequency vibration is often to prevent sound radiation, and the principles and practical application of such techniques are presented here for both plates and cylinders. The volume is written in textbook style and is aimed at students, practicing engineers, and researchers.

Active control of vibration, 1st edition

As the first part, this paper presents an overview on the existing works on fault detection and diagnosis (FDD) and fault-tolerant control (FTC) for unmanned rotorcraft systems. Considered faults include actuator and sensor faults for single and multi-rotor systems. As the second part, several FDD and FTC techniques developed recently at the Networked Autonomous Vehicles Lab of Concordia University are detailed along with experimental application to a unique and newly developed quadrotor helicopter testbed.

Development of advanced FDD and FTC techniques with application to an unmanned quadrotor helicopter testbed

Multisensor switching control strategy with fault tolerance guarantees

The enhancement of passengers’ comfort and their safety are part of the constant concerns for car manufacturers. Semiactive damping control systems have emerged to adapt the suspension features, where the road profile is one of the most important factors determining the automotive vehicle performance. Because direct measurements of the road profile represent expensive solutions and are susceptible to contamination (e.g. using laser and other visual sensors), this paper proposes a novel road profile estimator that offers the essential information (road roughness and its frequency) for the adjustment of the vehicle dynamics using conventional sensors, such as accelerometers or displacement/velocity sensors easy to mount, cheap, and useful to estimate all suspension variables. Based on the ${Q}$ -parametrization approach, an adaptive observer estimates the dynamic road signal; afterward, a Fourier analysis is used to compute the road roughness condition online and to perform an International Organization for Standardization (ISO) 8608 classification. Experimental results on the rear-left corner of a 1:5 scale vehicle, equipped with electro-rheological (ER) dampers, have been used to validate the proposed road profile estimation method. Different ISO road classes evaluate the performance of the proposed algorithm, whose results show that any road can be identified successfully at least 70% of the time with a false alarm rate lower than 5%; the general accuracy of the road classifier is 95%. A second test with variable vehicle velocity shows the importance of the online frequency estimation to adapt the road estimation algorithm to any driving velocity; in this test, the road is correctly estimated in 868 of 1042 m (an error of 16.7%). Finally, the adaptability of the parametric road estimator to the semiactiveness property of the ER damper is tested at different damping coefficients.

/pdf/adaptive-road-profile-estimation-in-semiactive-car-qn36zrir80.pdf

Adaptive Road Profile Estimation in Semiactive Car Suspensions

Adaptive regulation—Rejection of unknown multiple narrow band disturbances (a review on algorithms and applications)

This paper deals with fault tolerant control of the attitude of a four-rotor helicopter (quadrotor). A set of non-linear estimators/observers is implemented to estimate the attitude of the quadrotor. Each estimator has been designed in order to be sensitive to faults in all sensors but one. The attitude estimate that exhibits the smaller error when compared to the attitude computed from the mechanical model is selected to feed the controller. Thus the strategy proposed selects, at each instant, the estimator/observer that minimizes a suitable switching criterion. Simulations of the controlled system, under various scenarios, illustrate that the proposed switching strategy is able to maintain performance levels and to preserve stability under the occurrence of sensor failures.

John J. Martinez

Papers

A Safe Longitudinal Control for Adaptive Cruise Control and Stop-and-Go Scenarios

Multisensor switching control strategy with fault tolerance guarantees

Adaptive Road Profile Estimation in Semiactive Car Suspensions

Adaptive regulation—Rejection of unknown multiple narrow band disturbances (a review on algorithms and applications)

A multi-observer switching strategy for fault-tolerant control of a quadrotor helicopter