Tutorial Outline:
The first part of the tutorial (1 hour 10 mins) discusses a proprioceptive observer design for state estimation in automated driving systems and will be presented in the following manner:
Introduction of a novel estimation approach that estimates speed at each wheel.
Developing a wheel-vehicle dynamical model for designing an integrated kinematic-tire based state observer framework for speed estimation by including additional states from the wheel dynamics.
This would be followed by the design procedure for a state observer which would be essential for controls and safety-critical decision making in autonomous driving.
Extensive simulation studies, with road experiments, for the designed observer will be demonstrated.
In the second part (1 hour), a slip-aware networked vehicle model will be developed to design a controller for cooperative adaptive cruise control to enhance safety of the intended functionality (SOTIF) in connected automated driving systems. The topics to be covered for this part are:
A novel slip-aware model which utilizes an augmented state (for communication) to enhance the safety of the vehicular network will be discussed.
The compelling model, which only requires minimal information sharing, while facilitating the formation of platoons, will be investigated in detail.
For controller design, the use of a time-delayed control based strategy will be discussed next along with the stability of the model.
Finally, simulation of the vehicle platoon control, satisfying various performance criteria will be demonstrated.