Detection and Mitigation of Functional Insufficiencies in Autonomous Vehicles: The Safety Shell

Autonomous vehicles (AVs) promise to reduce greenhouse gas emissions, increase comfort and throughput of transportation, while simultaneously significantly reducing traffic deaths. To allow autonomous vehicles to satisfy the high safety levels for unsupervised participation in realistic traffic, the faults and functional insufficiencies of AV...

On the graphical stability of hybrid solutions with non-matching jump times

We investigate stability of a solution of a hybrid system in the sense that the graphs of solutions from nearby initial conditions remain close and tend towards the graph of the given solution. In this manner, a small continuous-time mismatch is allowed between the jump times of neighbouring solutions and the ‘peaking phenomenon’ is avoided. We...

Decision making for autonomous vehicles: Combining safety and optimality

In this paper, we propose a novel decision maker design for an autonomous vehicle driving on a highway, considering safety and optimality, and which is scalable, i.e., remains computationally tractable for more complex situations. This is realized in two stages. First, all safe actions are found, and second, from these actions the optimal action...

Event-Triggered Control for String-Stable Vehicle Platooning

Cooperative adaptive cruise control (CACC) is a promising technology that is proven to enable the formation of vehicle platoons with small inter-vehicle distances, while avoiding amplifications of disturbances along the vehicle string. As such, CACC systems can potentially improve road safety, traffic throughput and fuel consumption due to the...

Sample-Drop Firmness Analysis of TDMA-Scheduled Control Applications

This paper proposes methods for verification of (m, k)-firmness properties of control applications running on a shared TDMA-scheduled processor. We particularly consider dropped samples arising from processor sharing. Based on the available processor budget for any sample that is ready for execution, the Finite-Point (FP) method is proposed for...

Optimal control for integrated emission management in diesel engines

Integrated Emission Management (IEM) is a supervisory control strategy that minimises operational costs (consisting of fuel and AdBlue) for diesel engines with an aftertreatment system, while satisfying emission constraints imposed by legislation. In most work on IEM, a suboptimal heuristic real-time implementable solution is used, which is...

Dynamic programming for Integrated Emission Management in diesel engines

Integrated Emission Management (IEM) is a supervisory control strategy that aims at minimizing the operational costs of diesel engines with an aftertreatment system, while satisfying emission constraints imposed by legislation. In previous work on IEM, a suboptimal real-time implementable solution was proposed, which was based on Pontryagin's...

Design and implementation of parameterized adaptive cruise control: An explicit model predictive control approach

The combination of different characteristics and situation-dependent behavior cause the design of adaptive cruise control (ACC) systems to be time consuming. This paper presents a systematic approach for the design of a parameterized ACC, based on explicit model predictive control. A unique feature of the synthesized ACC is its parameterization...

A model predictive control approach to design a parameterized adaptive cruise control

The combination of different desirable characteristics and situation-dependent behavior cause the design of adaptive cruise control (ACC) systems to be time consuming and tedious. This chapter presents a systematic approach for the design and tuning of an ACC, based on model predictive control (MPC). A unique feature of the synthesized ACC is...

On integration of event-based estimation and robust MPC in a feedback loop

The main purpose of event-based control, if compared to periodic control, is to minimize data transfer or processing power in networked control systems. Current methods have an (implicit) dependency between triggering the events and the control algorithm. To decouple these two, we introduce an event-based state estimator in between the sensor...

Energy management strategies for vehicular electric power systems

In the near future, a significant increase in electric power consumption in vehicles is expected. To limit the associated increase in fuel consumption and exhaust emissions, smart strategies for the generation, storage/retrieval, distribution, and consumption of electric power will be used. Inspired by the research on energy management for...

Asynchronous measurement and control Motor synchronization for mailing systems

The design of controllers for the synchronization of a master and slave motor in a mailing system is addressed. Two approaches to the corresponding hybrid control problem consisting of a continuous-time plant and a discrete-event sensor are discussed. Both methods have been tested successfully on an experiment set-up consisting of a master motor...