CAREER: Human-Inspired Safety-Preserved Agile Vehicle Maneuvers

该学院早期职业发展(CALEAR)项目的研究目标是从根本上了解人类专家驾驶技能和人-机-环境(HME)交互作用，并设计新的以人为灵感的灵活操纵控制，以实现下一代主动车辆安全技术。拟议的研究灵感来自于极其敏捷的人类驾驶技能(例如专业赛车手和摩托车车手)，在紧急情况下处理和恢复不稳定的车辆运动，例如高速避障和在结冰的道路上打滑。这一职业项目将为敏捷机动系统开发新的建模和控制策略，包括(1)通过对HME动态交互进行建模来获取人的驾驶技能的框架；(2)用于处理具有保证安全性的瞬时不稳定车辆运动的新控制系统设计；(3)用于实时预测车辆安全极限的基于传感器的新的轮胎/道路交互建模框架；以及(4)对所提出的建模和控制框架的实验测试和验证。所提出的研究将在理论和实践上对动态系统的仿生控制做出重大贡献。这一职业项目的成功将提供新的HME配方和模型、用于跟踪具有保证的瞬时运动性能的不稳定目标HME动力学的新控制策略、新的传感器使能的适应技术以及用于机械系统中可变形部件和刚性部件之间的动态相互作用(例如，轮胎/路面相互作用)的新的传感机制和模型。直接的项目成果之一是为下一代无事故的汽车推进主动安全技术。车辆。该项目将利用在线虚拟驾驶环境开发和项目网站向公众传播研究成果、设计、模型、源代码、实验数据和文档。此外，该项目的教育目标包括开发一系列综合研究和教育计划，以吸引来自代表性不足群体的学生进入工程领域，如积极参与罗格斯目标和超级计划，让本科生参与研究活动，并参与全球研究生教育的国际合作。

The research objective of this Faculty Early Career Development (CAREER) project is to fundamentally understand human expert driving skills and the human-machine-environment (HME) interaction, and to design new human-inspired control of agile maneuvers for enabling the next-generation active vehicle safety technology. The proposed research is inspired by extremely agile human driving skills (e.g., professional racing car drivers and motorcycle riders) for handling and recovering unstable vehicle motion in emergencies, such as high-speed obstacle avoidance and skidding on icy roads. This CAREER project will develop new modeling and control strategies for agile-maneuvering systems, including (1) a human-driving skill-capturing framework through modeling HME dynamic interactions; (2) a new control system design for handling transient unstable vehicle motion with guaranteed-safety; (3) a new sensor-enabled tire/road interaction modeling framework for real-time predicting vehicle safety limits; and (4) experimentally testing and validation of the proposed modeling and control framework.The proposed research will result in significant contributions, both theoretical as well as practical, in bio-inspired control of dynamic systems. The success of this CAREER project will provide new HME formulations and models, novel control strategies for tracking unstable target HME dynamics with guaranteed transient motion performance, new sensor-enabled adaptation techniques and new sensing mechanisms and models for dynamic interactions between deformable and rigid components in mechanical systems (e.g., tire/road interaction). One of the direct project outcomes is to advance active safety technology for the next-generation of ?accident-free? vehicles. The project will use online virtual driving environment development and the project website to disseminate the research outcomes, designs, models, source codes, experimental data, and documentation to the general public. In addition, the educational objectives of the project include developing a number of integrated research and education programs to attract students from underrepresented groups into engineering fields, such as active participation in the Rutgers TARGET and SUPER programs, involve undergraduate students into the research activities, and participate in international collaborations for global graduate education.