GOALI: Next Generation Active Safety Control Systems for Crash-Avoidance of Passenger Vehicles Using Expert Driver Knowledge

在提高安全性、经济性和舒适性的联邦指令和公共要求的推动下，目前的乘用车采用了各种先进的技术，如主动悬架系统、ABS、差动牵引力控制和电子稳定程序（ESP），以满足这些目标。未来的车辆将采用更复杂的技术，如四轮独立转向、线控驾驶、线控制动、自主导航和队列行驶等。这项研究直接支持这种主动安全系统的开发，并通过与福特汽车公司的全面合作计划（作为NSF-GOALI计划的一部分）促进其向量产车辆的转移。智力优势：该项目涉及为乘用车开发下一代驱动管理系统（DMS）的控制体系结构。在MEMS传感器技术进步和专用嵌入式硬件和软件开发的支持下，DMS将很快成为下一代乘用车的现实。几家汽车公司，尤其是福特（与瑞典的沃尔沃合作），已经开始了一项雄心勃勃的计划，到2020年开发一款“无事故”汽车。如果没有复杂的“线控驾驶”（DBW）控制系统，这一目标就无法实现。作为整个DMS架构的一部分，DBW将防止驾驶员采取违反车辆安全限制的错误操作，并帮助驾驶员从这种不安全的状态中恢复过来。为了实现这一目标，该方法借鉴了航空航天工业中经过充分研究和验证的技术、实践和经验，在过去二十年中，“电传飞行”（FBW）和飞行管理系统（FMS）提高了民用和军用飞机的安全性、可靠性、性能和燃油效率。该方法的四个基础是：(i)与专业赛车手合作，他们将提供宝贵的先进驾驶技术，以从异常和危险的驾驶情况中恢复过来；发展这些驾驶技术的数学模型；（iii）使用有限状态自动机在线实现这些机动；（iv）在福特测试设施对乘用车上的控制器进行数值和实验验证。在此GOALI提案的支持下，PI研究小组的一名学生或博士后将在项目期间每年至少在福特呆六个月，并与福特工程师一起帮助将技术转化为量产车辆。更广泛的影响：这项工作的结果将对提高乘用车的安全标准产生直接影响。技术转让将通过佐治亚理工学院技术许可办公室促进。该项目的教育影响可根据目标受众分为大学预科生、本科生、研究生和专业人员。由于受众的多样性，pi计划通过NSF的直接支持以及福特的URP奖，使用不同的途径来接触每个群体。这个项目有利于少数民族学生的参与。这项工作的结果将通过网络和福特的新闻稿传播给专业人士和外行。

Driven by federal directives and the public mandate to increase safety, economy and comfort, current passenger cars incorporate a variety of technological advances such as active suspension systems, ABS, differential traction control and electronic stability programs (ESP) to meet these goals. Future vehicles will incorporate even more sophisticated technologies such as four-wheel independent steering, drive-by-wire, brake-by-wire, autonomous navigation and platooning, etc. This research directly supports the development of such active safety systems and facilitate their transfer to production vehicles through a comprehensive collaboration plan with Ford Motor Company as part of the NSF-GOALI Program.Intellectual Merit: This project involves the development of a control architecture for the next generation of drive management systems (DMS) for passenger vehicles. Supported by advances in MEMS sensor technology and the development of dedicated embedded hardware and software, DMS will soon become a reality for the next generation of passenger vehicles. Several automotive companies, notably Ford (in collaboration with Volvo of Sweden), have started an ambitious project to develop an "accident-free" car by 2020. This goal cannot be achieved without sophisticated "drive-by-wire" (DBW) control systems which as part of the overall DMS architecture will prevent the driver from taking an incorrect action that would violate the safe limits of the vehicle, and also help the driver recover from such unsafe regimes. To achieve this goal, the approach borrows well-studied and validated techniques, practices and experiences from the aerospace industry, where "fly-by-wire" (FBW) and flight management systems (FMS) have increased the safety, reliability, performance, and fuel efficiency of civil and military aircraft during the last two decades. The four cornerstones of the methodology are: (i) Collaboration with expert race drivers who will provide valuable input on advanced driving techniques to recover from abnormal and dangerous driving conditions; (ii) Development of mathematical models of these driving techniques; (iii) On-line implementation of these maneuvers using finite state automata; (iv) Numerical andexperimental validation of the controllers on passenger vehicles at Ford's test facilities.With the support from this GOALI proposal, one student or post-doc from the PI's research group will spend at least six months each year at Ford for the duration of the project and work with the Ford engineers to help transition the technology to production vehicles.Broader Impacts: The results of this work will have an immediate impact on the improvement of safety standards of passenger vehicles. Technology transfer will be facilitated through the Technology Licensing Office of Georgia Tech. The educational impact of this project can be classified according to the targeted audience as precollege, undergraduate, graduate students and professionals. Due to the diversity of this audience, the PIs plan to use separate avenues to reach each group through direct support from the NSF under this award as well as a URP award from Ford. This program facilitates the involvement of minority students. Dissemination of the results of this work to professionals and the layperson will be achieved via the web and press releases from Ford.