Dept. of Mechanical Engineering National Taiwan University

Intelligent Vehicle & Mechatronics Laboratory 智慧型載具與機電整合實驗室

Li, Kang ( 李綱 )

Current Research Focuses

    Intelligent Vehicles    Unmanned surface vehicles (electric vessels) ( 無人電動船 ) Advanced driver assistance systems ( 先進駕駛輔助系統 ) Automated ground vehicles ( 自動化車輛 ) Sensor/Data Fusion & Applications    High-precision vehicle positioning through data fusion (GPS + motion/vision sensors + digital map) Multi-target tracking and classification (radar/lidar/vision sensors integration) Sensor-based situation awareness Intelligent Transportation Systems  Integration of Vehicular Electronics and Information & Communication Technology (ICT) Smart Grid  利用大型不斷電系統 (UPS) 達成區域性智慧型電網之最佳供電控制

Lab Members

 Lab Advisor – Dr. Li, Kang ( 李綱 )  Assistant Professor, ME, NTU, August 2010-present  Postdoctoral Scholar, PATH, UC-Berkeley, 2009-2010  Ph.D., ME, UC-Berkeley, 2009  M.S., ME, UC-Berkeley, 2005  B.S., ME, NTU, 2000  Two Graduate students (2010~present)  Five Undergraduate Students (2010~present) 

New lab members wanted!

Unmanned Surface Vehicles

     

(USV)

Electric Vessels ( prototypes at 淡水八里 , 高雄 ) Sensor-based situation awareness Dynamic route planning Harbor and sea navigation, docking, evasive maneuvers Dynamic reconfiguration and management of systems & resources Research partners: 聯合船舶設計發展中心 , 中科院  影片連結

VII* ADAS: On-Board System

DSRC, WiMax, WiFi...

RSE VII Map Message GPS Antenna User Machine Interface SOBU Wave Radio Antenna Cell-Phone Bluetooth PC-104 (Optical Gyro) UDP Sockets Computation Platform and Digital Map Database ISA Computer (MEMS Gyro, Accelerometers, Wheel Speed, etc.) •VII: Vehicle Infrastructure Integration research program of US DOT • ADAS: Advanced Driver Assistance System RS 232 GPS Receiver

5

VII ADAS: Exemplar Applications

2.

3.

4.

1.

Map update/enrichment & dynamic roadway information through wireless communication Speed warning – curve, stop sign, intersection,etc.

Lane departure/wrong way warnings In-vehicle signing

VII ADAS Demo

• The VII ADAS integrates on-board sensors, DGPS, digital maps, and wireless communication to perform driver safety assistance applications.

 • A demo video is available on YouTube at http://www.youtube.com/watch?v=5vuKvW_5QVM 影片下載

Automated Bus

• Lateral guidance & control • Automatic bus precision docking system (gap:1~2 inches)  影片連結 Courtesy of Dr. Han-Shue Tan, California PATH, UC-Berkeley.

Mobile-enabled Cloud Service: Roadway Information System

•

Cellphone & CAN

Integration • Wireless access to cloud computing

Vehicle Data Bus OBD II Data Link Connector OBD II Data Reader

OBD II data link connector

Cloud Server

Cellular Tower

In-vehicle Device Microprocessor Digital Cell phone Chip Set GPS/INS

High-precision Vehicle Navigation System Antenna

Sensor Fusion for Multi-target Tracking and Classification

  Sensor candidates:    Doppler tracking radar Laser-scanner Video camera Applications:     Law enforcement system at Snow Mountain Tunnel ( 雪山隧道 ) Augmented speed enforcement system (U.S.) Intersection collision avoidance system Unmanned surface vehicle target tracking & classification

Research Projects

  2010~  High-precision vehicle localization in urban canyons  Sensor fusion for multi-target tracking and classification (PATH UC-Berkeley, 中興工程顧問公司 , 訊田 , 東山科技 )  台大智慧型電動車 ( 台大 , 昇陽國際半導體 , 楊宏智教授等 ) 2011~  Mobile-enabled cloud service – roadway information system and cooperative adaptive cruise control ( 工研院 資通所 , 交大電機與控制系 )    利用大型不斷系統 (UPS) 達成區域性智慧型電網之最佳 供電控制 ( 台大 , 昇陽國際半導體 ) 前瞻感知技術與跟車演算法研究 ( 車測中心 , 台大電機 ) 無人電動船 ( 中科院 , 船舶設計發展中心 )