Data-Driven Motion Control of Autonomous Vehicles in GPS-Unreliable Environments

In this project, a novel data-driven strategy will be proposed for autonomous vehicle (AV) motion control when a global positioning system (GPS) signal is not reliable. In recent years, data-driven approaches such as reinforcement learning (RL) and adaptive dynamic programming (ADP) algorithms have been widely adopted in solving dynamic programming problems. However, there is seldom any related application in AV control systems when a GPS signal is not reliable, where technical difficulties occur due to the unavailability of the vehicle location, orientation and certain critical vehicle states. An AV’s complex operation environment, external disturbances, system nonlinearities, modeling and non-structural uncertainties also lead to challenges for reliable motion control. To this end, this project will develop an enhanced ADP approach for AV motion control when the GPS signal is not reliable, based on the estimation results for the sideslip angle and tire-road friction coefficient. The dependable inputs will be signals collected/measured from on-board sensing results. The innovations of this research are: (1) an adaptive and cost-efficient estimation scheme will be proposed to estimate the tire road friction coefficient and sideslip angle simultaneously based on on-board sensors; (2) a novel learning-based adaptive motion control strategy will be proposed based on the sensing results and obtained estimation results to solve the tracking control with guaranteed prescribed performance.

• Record URL:
  http://depts.washington.edu/pactrans/research/projects/data-driven-motion-control-of-autonomous-vehicles-in-gps-unreliable-environments/

Language

• English

Project

• Status: Active
• Funding: $100000
• Contract Numbers:

  69A355174110

• Sponsor Organizations:

  Pacific Northwest Transportation Consortium

  University of Washington
  More Hall Room 112
  Seattle, WA  United States  98195-2700

  Office of the Assistant Secretary for Research and Technology

  University Transportation Centers Program
  Department of Transportation
  Washington, DC  United States  20590
• Managing Organizations:

  Alaska University Transportation Center

  University of Alaska, Fairbanks
  P.O. Box 755900
  Fairbanks, AK  United States  99775-5900
• Project Managers:

  Hu, Chuan

• Performing Organizations:

  Alaska University Transportation Center

  University of Alaska, Fairbanks
  P.O. Box 755900
  Fairbanks, AK  United States  99775-5900
• Start Date: 20210616
• Expected Completion Date: 20230215
• Actual Completion Date: 0
• USDOT Program: University Transportation Centers Program

Subject/Index Terms

• TRT Terms: Autonomous vehicles; Dynamic programming; Friction; Global Positioning System
• Subject Areas: Data and Information Technology; Highways; Safety and Human Factors; Vehicles and Equipment;

Filing Info

• Accession Number: 01784884
• Record Type: Research project
• Source Agency: Pacific Northwest Transportation Consortium
• Contract Numbers: 69A355174110
• Files: UTC, RIP
• Created Date: Oct 16 2021 10:35PM