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Articles 1 - 28 of 28
Full-Text Articles in Automotive Engineering
Sensor Emulation With Physiolocal Data In Immersive Virtual Reality Driving Simulator, Jungsu Pak, Oliver Mathias, Ariane Guirguis, Uri Maoz
Sensor Emulation With Physiolocal Data In Immersive Virtual Reality Driving Simulator, Jungsu Pak, Oliver Mathias, Ariane Guirguis, Uri Maoz
Student Scholar Symposium Abstracts and Posters
Can we enhance the safety and comfort of AVs by training AVs with physiological data of human drivers? We will train and compare AV algorithm with/without physiological data.
Self-Driving Toy Car Using Deep Learning, Fahim Ahmed, Suleyman Turac, Mubtasem Ali
Self-Driving Toy Car Using Deep Learning, Fahim Ahmed, Suleyman Turac, Mubtasem Ali
Publications and Research
Our research focuses on building a student affordable platform for scale model self-driving cars. The goal of this project is to explore current developments of Open Source hardware and software to build a low-cost platform consisting of the car chassis/framework, sensors, and software for the autopilot. Our research will allow other students with low budget to enter into the world of Deep Learning, self-driving cars, and autonomous cars racing competitions.
The Challenges Facing Autonomous Vehicles And The Progress In Addressing Them, Garrett Johnson
The Challenges Facing Autonomous Vehicles And The Progress In Addressing Them, Garrett Johnson
Senior Honors Theses
Autonomous vehicles are an emerging technology that faces challenges, both technical and socioeconomic. This paper first addresses specific technical challenges, such as parsing visual data, communicating with other entities, and making decisions based on environmental knowledge. The technical challenges are to be addressed by the fields of image processing, Vehicle to Everything Communication (V2X), and decision-making systems. Non-technical challenges such as ethical decision making, social acceptance, and economic pushback are also discussed. Ethical decision making is discussed in the framework of deontology vs utilitarianism, while social acceptance of utilitarian autonomous vehicles is also investigated. Last, the likely economic impact is …
Radio Direction Finding Using Pseudo-Doppler For Uav-Based Animal Tracking, Anup Karki
Radio Direction Finding Using Pseudo-Doppler For Uav-Based Animal Tracking, Anup Karki
Masters Theses
Radio Direction Finding (RDF) is commonly used for low cost tracking and navigation systems. However, for a low cost application and mobility, the design constraints are highly limited. Pseudo Doppler (PD) can improve RDF capabilities without being cost prohibitive. This work entails the analysis of PD RDF and its potential use for Unmanned Aerial Vehicles (UAV) that are currently employed in wildlife research animal tracking. PD is based on the doppler effect or doppler shift. The doppler effect works like a frequency modulator that increases or decreases the observed frequency depending on whether a signal source is approaching or receding …
Comparison Of Modern Controls And Reinforcement Learning For Robust Control Of Autonomously Backing Up Tractor-Trailers To Loading Docks, Journey Mcdowell
Comparison Of Modern Controls And Reinforcement Learning For Robust Control Of Autonomously Backing Up Tractor-Trailers To Loading Docks, Journey Mcdowell
Master's Theses
Two controller performances are assessed for generalization in the path following task of autonomously backing up a tractor-trailer. Starting from random locations and orientations, paths are generated to loading docks with arbitrary pose using Dubins Curves. The combination vehicles can be varied in wheelbase, hitch length, weight distributions, and tire cornering stiffness. The closed form calculation of the gains for the Linear Quadratic Regulator (LQR) rely heavily on having an accurate model of the plant. However, real-world applications cannot expect to have an updated model for each new trailer. Finding alternative robust controllers when the trailer model is changed was …
Gesture Based Control Of Semi-Autonomous Vehicles, Brian Sanders
Gesture Based Control Of Semi-Autonomous Vehicles, Brian Sanders
Computational Modeling & Simulation Engineering Theses & Dissertations
The objective of this investigation is to explore the use of hand gestures to control semi-autonomous vehicles, such as quadcopters, using realistic, physics based simulations. This involves identifying natural gestures to control basic functions of a vehicle, such as maneuvering and onboard equipment operation, and building simulations using the Unity game engine to investigate preferred use of those gestures. In addition to creating a realistic operating experience, human factors associated with limitations on physical hand motion and information management are also considered in the simulation development process. Testing with external participants using a recreational quadcopter simulation built in Unity was …
Optimal Direct Yaw Moment Control Of A 4wd Electric Vehicle, Winston James Wight
Optimal Direct Yaw Moment Control Of A 4wd Electric Vehicle, Winston James Wight
Master's Theses
This thesis is concerned with electronic stability of an all-wheel drive electric vehicle with independent motors mounted in each wheel. The additional controllability and speed permitted using independent motors can be exploited to improve the handling and stability of electric vehicles. In this thesis, these improvements arise from employing a direct yaw moment control (DYC) system that seeks to adapt the understeer gradient of the vehicle and achieve neutral steer by employing a supervisory controller and simultaneously tracking an ideal yaw rate and ideal sideslip angle. DYC enhances vehicle stability by generating a corrective yaw moment realized by a torque …
A Legal Study On Challenges Confronted By Unmanned Ships, Minhe Li
A Legal Study On Challenges Confronted By Unmanned Ships, Minhe Li
Maritime Safety & Environment Management Dissertations (Dalian)
No abstract provided.
Electronic Cvt - Controls, Alec William Hardy, Jessalyn Leora Ann Bernick, Nicholas Esteban Capdevila, Tristan Charles Perry
Electronic Cvt - Controls, Alec William Hardy, Jessalyn Leora Ann Bernick, Nicholas Esteban Capdevila, Tristan Charles Perry
Mechanical Engineering
The following document outlines the design process, manufacturing, and testing of the control system for an electronically controlled continuously variable transmission (ECVT). This control system was integrated into the custom designed and manufactured mechanical transmission system created in parallel by another senior project group. The transmission was designed for use in the Cal Poly Baja SAE vehicle. Through researching customer needs, competition requirements, previous and alternate CVT designs, and vehicle characteristics, we were able to determine the requirements and specifications for our unique system. Input, output, speed, and durability requirements guided our hardware selection. The primary components which comprised our …
Implementation Of A Scale Semi-Autonomous Platoon To Test Control Theory Attacks, Erik Miller
Implementation Of A Scale Semi-Autonomous Platoon To Test Control Theory Attacks, Erik Miller
Master's Theses
With all the advancements in autonomous and connected cars, there is a developing body of research around the security and robustness of driving automation systems. Attacks and mitigations for said attacks have been explored, but almost always solely in software simulations.
For this thesis, I led a team to build the foundation for an open source platoon of scale semi-autonomous vehicles. This work will enable future research into implementing theoretical attacks and mitigations. Our 1/10 scale car leverages an Nvidia Jetson, embedded microcontroller, and sensors. The Jetson manages the computer vision, networking, control logic, and overall system control; the embedded …
Analysis Of Disengagements In Semi-Autonomous Vehicles: Drivers’ Takeover Performance And Operational Implications, Francesca M. Favaro, Sky Eurich, Syeda Rizvi, Shivangi Agarwal, Sumaid Mahmood, Nazanin Nader
Analysis Of Disengagements In Semi-Autonomous Vehicles: Drivers’ Takeover Performance And Operational Implications, Francesca M. Favaro, Sky Eurich, Syeda Rizvi, Shivangi Agarwal, Sumaid Mahmood, Nazanin Nader
Mineta Transportation Institute Publications
This report analyzes the reactions of human drivers placed in simulated Autonomous Technology disengagement scenarios. The study was executed in a human-in-the-loop setting, within a high-fidelity integrated car simulator capable of handling both manual and autonomous driving. A population of 40 individuals was tested, with metrics for control takeover quantification given by: i) response times (considering inputs of steering, throttle, and braking); ii) vehicle drift from the lane centerline after takeover as well as overall (integral) drift over an S-turn curve compared to a baseline obtained in manual driving; and iii) accuracy metrics to quantify human factors associated with the …
Autonomous Vehicles Operating Collaboratively To Avoid Debris And Obstructions, Toan T. Le, Cole W. Oppenheim, James H. Gildart, Kyle M. Bybee
Autonomous Vehicles Operating Collaboratively To Avoid Debris And Obstructions, Toan T. Le, Cole W. Oppenheim, James H. Gildart, Kyle M. Bybee
Mechanical Engineering
The purpose of this project is to demonstrate the safety and increased fuel efficiency of an automated collision avoidance system in collaborative vehicle platooning. This project was cosponsored by Daimler Trucks North America headquartered in Portland, Oregon, as well as Dr. Birdsong, and Dr. DeBruhl of Cal Poly. The mechanical engineering team consists of Cole Oppenheim, James Gildart, Toan Le, and Kyle Bybee who worked in coordination with a team of computer engineers. Vehicle platooning is a driving technique to increase the fuel efficiency of a group of vehicles by following a lead vehicle closely to reduce the drag experienced …
Comparison Of Lqr And Lqr-Mrac For Linear Tractor-Trailer Model, Kevin Richard Gasik
Comparison Of Lqr And Lqr-Mrac For Linear Tractor-Trailer Model, Kevin Richard Gasik
Master's Theses
The United States trucking industry is immense. Employing over three million drivers and traveling to every city in the country. Semi-Trucks travel millions of miles each week and encompass roads that civilians travel on. These vehicles should be safe and allow efficient travel for all. Autonomous vehicles have been discussed in controls for many decades. Now fleets of autonomous vehicles are beginning their integration into society. The ability to create an autonomous system requires domain and system specific knowledge. Approaches to implement a fully autonomous vehicle have been developed using different techniques in control systems such as Kalman Filters, Neural …
Autonomous Watercraft Simulation And Programming, Nicholas J. Savino
Autonomous Watercraft Simulation And Programming, Nicholas J. Savino
Student Scholar Showcase
Automation of various modes of transportation is thought to make travel more safe and efficient. Over the past several decades, advances to semi-autonomous and autonomous vehicles have led to advanced autopilot systems on planes and boats, and an increasing popularity of self-driving cars. We predicted the motion of an autonomous vehicle using simulations in Python. The simulation models the motion of a small scale watercraft, which can then be built and programmed using an Arduino Microcontroller. We examined different control methods for a simulated rescue craft to reach a target. We also examined the effects of different factors, such as …
Low Cost Vehicular Autonomy Using Radar And Gps, Nathan Jessurun, Ryan Gordon, Danielle Fredette
Low Cost Vehicular Autonomy Using Radar And Gps, Nathan Jessurun, Ryan Gordon, Danielle Fredette
The Research and Scholarship Symposium (2013-2019)
This presentation describes a subset of the systems devised for this year's autonomous golf cart senior design project. Our goal is to explore the possibilities of low cost autonomy using only radar and GPS for environmental sensing and navigation. Although autonomous and semi-autonomous ground vehicles are a relatively new reality, prototypes have been a subject of engineering research for decades, often utilizing an array of sensors and sensor fusion techniques. State of the art autonomous ground vehicle prototypes typically use a combination of LIDAR and other distance sensors (such as radar or sonar) as well as cameras and GPS, sometimes …
Torsional Stiffness Of A Race Car, Reiley A. Schraeger, Cameron Kao, Raymond Deng, Omar Roman
Torsional Stiffness Of A Race Car, Reiley A. Schraeger, Cameron Kao, Raymond Deng, Omar Roman
Mechanical Engineering
Torsional stiffness plays a major role in any road vehicle. To understand torsional stiffness of a vehicle and make future iterations and improvements, a proper torsional stiffness jig is required to prove accurate and useful data. This report encompasses the new and improved testing jig and potential improvement ideas for more accurate results. With real data result relating to FEA calculations, designers can be confident in the FEA changes to torsional stiffness is accurate and will yield the probably results they desired. This report shows the methodology, manufacturing process and testing procedure to use on any Baja or SAE vehicle …
Edge Heterogeneous Hardware Evaluation Based On Real Connected And Autonomous Vehicles (Cavs) Workloads, Mustafa Ahmad
Edge Heterogeneous Hardware Evaluation Based On Real Connected And Autonomous Vehicles (Cavs) Workloads, Mustafa Ahmad
Research Opportunities for Engineering Undergraduates (ROEU) Program 2018-19
There has recently been a wide expansion of hardware to assist in autonomous driving tasks. On this project, we focus on using some state-of-the-art deep learning workloads in connected autonomous vehicle (CAV) scenarios,such as object detection and object tracking to evaluate the heterogeneous hardware.
Unsupervised Feature Learning For Point Cloud By Contrasting And Clustering With Graph Convolutional Neural Network, Ling Zhang
Dissertations and Theses
Recently, deep graph neural networks (GNNs) have attracted significant attention for point cloud understanding tasks, including classification, segmentation, and detection. However, the training of such deep networks still requires a large amount of annotated data, which is both expensive and time-consuming. To alleviate the cost of collecting and annotating large-scale point cloud datasets, we propose an unsupervised learning approach to learn features from unlabeled point cloud ”3D object” dataset by using part contrasting and object clustering with GNNs. In the contrast learning step, all the samples in the 3D object dataset are cut into two parts and put into a …
Comparison Of Drag Area Estimation Using Natural Coast Down And Constant Speed Test Methods, Cem Baki Mr
Comparison Of Drag Area Estimation Using Natural Coast Down And Constant Speed Test Methods, Cem Baki Mr
Graduate Theses, Dissertations, and Problem Reports
Currently in US, more than 26 percent of the total GHG emissions comes from transportation and mostly from heavy duty vehicles. Similarly, the European Council stated that 25 percent of the emissions comes from heavy duty transportation and they expect it to be further increased in the future. However, with the new coming regulations US EPA and European Council aiming to reduce the emissions by 80 percent in US and 60 percent in EU. In order to keep track and control the emissions, both authorities published new regulations and testing methods for certifying the new vehicles.
Aerodynamic testing is one …
Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control, Hadi Kazemi
Graduate Theses, Dissertations, and Problem Reports
Information obtainable from Intelligent Transportation Systems (ITS) provides the possibility of improving the safety and efficiency of vehicles at different levels. In particular, such information has the potential to be utilized for prediction of driving conditions and traffic flow, which allows us to improve the performance of the control systems in different vehicular applications, such as Hybrid Electric Vehicles (HEVs) powertrain control and Cooperative Adaptive Cruise Control (CACC). In the first part of this work, we study the design of an MPC controller for a Cooperative Adaptive Cruise Control (CACC) system, which is an automated application that provides the drivers …
Effect Of Sensor Errors On Autonomous Steering Control And Application Of Sensor Fusion For Robust Navigation, Shuvodeep Bhattacharjya
Effect Of Sensor Errors On Autonomous Steering Control And Application Of Sensor Fusion For Robust Navigation, Shuvodeep Bhattacharjya
Dissertations, Master's Theses and Master's Reports
Autonomous steering control is one the most important features in autonomous vehicle navigation. The nature and tuning of the controller decides how well the vehicle follows a defined trajectory. A poorly tuned controller can cause the vehicle to oversteer or understeer at turns leading to deviation from a defined path. However, controller performance also depends on the state–feedback system. If the states used for controller input are noisy or has bias / systematic error, the navigation performance of the vehicle is affected irrespective of the control law and controller tuning. In this report, autonomous steering controller analysis is done for …
Automotive Driveline Backlash State And Size Estimator Design For Anti-Jerk Control, Kaushal Kumar Darokar
Automotive Driveline Backlash State And Size Estimator Design For Anti-Jerk Control, Kaushal Kumar Darokar
Dissertations, Master's Theses and Master's Reports
Vehicle drivability is an important factor which more and more customers have started assessing before buying a vehicle. Customers carry out this assessment based on both vehicle reviews/ratings and based on the test drives. One of common maneuver which a customers perform during the test drive is sudden accelerator pedal tip-in or tip-out to accelerate or coast the vehicle. Clunk and shuffle are the phenomena that usually occur during this scenario causing driver discomfort. The clunk and shuffle are caused by the backlash and compliance physical properties of the driveline. Consequently, control strategy needs to be developed which can provide …
Anti-Roll Bar For Sae Baja Vehicle, Jennifer Bulgrin, Zachary A. Gnabah, Scott P. Toth
Anti-Roll Bar For Sae Baja Vehicle, Jennifer Bulgrin, Zachary A. Gnabah, Scott P. Toth
Williams Honors College, Honors Research Projects
This report explores the need to improve the Zips Baja vehicle handling performance. This will be achieved by designing an anti-roll bar system for the rear suspension of the Zips Baja vehicle to decrease the turning radius of the vehicle. The project develops specific goals to achieve increased performance, goes through the engineering design cycle to create a prototype, evaluate its effectiveness, optimize the design through several iterations, and design a final solution. After sub-functions have been determined, conceptual ideas for completing all sub-functions were evaluated and a conceptual design was selected to proceed into the embodiment design phase. Once …
Carbon Fiber Racing Wheel, Megan Sanok, Melissa Furdak, Sydney Schipani
Carbon Fiber Racing Wheel, Megan Sanok, Melissa Furdak, Sydney Schipani
Williams Honors College, Honors Research Projects
Industry today thrives off of competition; everybody wants their product to be the best. Across almost every field of manufacturing and design, there is a pattern of factors that companies strive for when producing their specialized products. The most effective companies can create a commodity that is relatively inexpensive, easy to manufacture, and has the ability to meet high standards. As engineers, it is ingrained in us that there is always room for improvement, and that we have been given the tools to make it happen.
When evaluating what needed to be improved in our daily lives, the SAE Zips …
Roadnet: Robust Adaptive Network For Information Diffusion In Vanet, Priyashraba Misra
Roadnet: Robust Adaptive Network For Information Diffusion In Vanet, Priyashraba Misra
Graduate Theses, Dissertations, and Problem Reports
The automotive industry has changed more in the last one decade than ever before. Rapid advancements in autonomous driving have opened up opportunities for CAVs (Connected and Automated Vehicles). Vehicles today rely on a sensor-suite to map the surrounding and use that information for safety and navigation. The sensor's view is limited to its line of sight and this drawback can be tapered off by using Vehicle to Vehicle (V2V) and Vehicle to Infrastructure (V2I), generally referred to as Vehicle to Everything (V2X) communication. In this thesis, we specifically focus on utilizing V2V communication using on-board Dedicated Short Range Communication …
Mpc-Based Autonomous Driving Control With Localized Path Planning For Obstacle Avoidance And Navigating Signalized Intersections, Sai Rajeev Devaragudi
Mpc-Based Autonomous Driving Control With Localized Path Planning For Obstacle Avoidance And Navigating Signalized Intersections, Sai Rajeev Devaragudi
Dissertations, Master's Theses and Master's Reports
Connected and autonomous vehicles are becoming the major focus of research for the industry and academia in the automotive field. Many companies and research groups have demonstrated the advantages and the requirement of such technology to improve the energy efficiency of vehicles, decrease the number of crash and road accidents, and control emissions.
This research delves into improving the autonomy of self-driving vehicles by implementing localized path planning algorithms to introduce motion control for obstacle avoidance during uncertainties. Lateral path planning is implemented using the A* algorithm combined with piecewise Bezier curve generation which provides an optimum trajectory reference to …
Modeling Chevy Volt Gen Ii Supervisory Controller In Charge Sustaining Operation, Saurabh Bhasme
Modeling Chevy Volt Gen Ii Supervisory Controller In Charge Sustaining Operation, Saurabh Bhasme
Dissertations, Master's Theses and Master's Reports
This report is focused on the development of Chevy Volt Gen II powertrain supervisory controller modeling for charge sustaining operation of the vehicle. The modeling process incorporated vehicle parameters and maps provided. The overall powertrain model along with the supervisory controller is developed in MAT- LAB/SIMULINK programming platform. The powertrain model includes all components which are the IC engine, two electric motors & associated TPIM, Battery, transmission auxiliary pump and spin-losses. The supervisory controller includes the vehicle drive mode selection model, the torque blending logic for charge sustaining along with friction brake modeling. The model has been developed to perform …
Application Of Sensor Fusion For Si Engine Diagnostics And Combustion Feedback, Fnu Muralidhar Nischal
Application Of Sensor Fusion For Si Engine Diagnostics And Combustion Feedback, Fnu Muralidhar Nischal
Dissertations, Master's Theses and Master's Reports
Shifting consumer mindsets and evolving government norms are forcing automotive manufacturers the world over to improve vehicle performance and also reduce greenhouse gas emissions. A critical aspect of achieving future fuel economy and emission targets is improved powertrain control and diagnostics.
This study focuses on using a sensor fusion based approach to improving control and diagnostics in a gasoline engine. A four cylinder turbocharged engine was instrumented with a suite of sensors including ion sensors, exhaust pressure sensors, crank position sensors and accelerometers. The diagnostic potential of these sensors was studied in detail. The ability of these sensors to detect …