Transcript Lecture #2 The role of Control: The Basics

Opportunities in ITS
Technologies
for Hybrid Electric Vehicles
Prof. Umit Ozguner
The Ohio State University
Dept. of Electrical and Computer Engineering
and
Center for Automotive Research
Control and Intelligent
Transportation Research Lab
A review of two parallel developments:
1. ITS, specifically Vehicle-to-Vehicle (V2V)
Communication issues
2. Hybrid Electric Vehicles (and more recently,
Plug-In Hybrid Electric Vehicles)
CAR: Vehicle-to-Vehicle
Communication Consortium
RELEVANT ITS TECHNOLOGIES
CAR: Vehicle-to-Vehicle
Communication Consortium
Transmission using infrastructure
(highway or in-city)
Vehicle 1
x km
Vehicle 2
● Transmit incident information which
occurred a long distance away.
CAR: Vehicle-to-Vehicle
Communication Consortium
Transmission using infrastructure
(in city)
Traffic light
broadcasting timing
Vehicle
 Transmit red-green signal timing so that upcoming
vehicle may slow down.
 Transmit GPS correction signal.
 Transmit detailed map of intersection.
CAR: Vehicle-to-Vehicle
Communication Consortium
Inter-Vehicle Communication
• Sending information regarding forward traffic jam.
• Sending information to allow tight following
Vehicle 1
Vehicle 2
Traffic Jam
Vehicle 1
Vehicle 2
CAR: Vehicle-to-Vehicle
Communication Consortium
CAR: Vehicle-to-Vehicle
Communication Consortium
An example from the US: The CICAS-V Program
Control and Intelligent
Transportation Research Lab
Control and Intelligent
Transportation Research Lab
CAR: Vehicle-to-Vehicle
Communication Consortium
CAR: Vehicle-to-Vehicle
Communication Consortium
RELEVANT CONTROL ISSUES
CAR: Vehicle-to-Vehicle
Communication Consortium
What can we provide HEV’s?
•Intersection issues: Stop-and-go traffic (cold
start problems). “time to stop”, “time to
accelerate”
•In-traffic driving: We can generate true
“look-ahead speed profiles” (not statistical
drive cycles).
•We can generate “look-ahead load profiles”
based on road grade and other real-time
estimates
•For plug-in hybrid usage: we can estimate
re-charge schedules and locations
CAR: Vehicle-to-Vehicle
Communication Consortium
Control Approaches
• One approach to this problem • Many HEV control problems have
been formulated as a receding
requires the use of the anticipated
horizon control problem. With an
“effective load” on the vehicle.
EECC, preview information of
Our group and others have
road profile and traffic flow
considered this and preliminary
information would be assumed to
investigations have been reported
be available for a look-ahead
on simple road-grade effects.
time/distance as the horizon
Presently we are considering a
information. An optimal controller
more general issue of “look-ahead
can be implemented to minimize
effective load variation” where
fuel consumption by controlling
grade is one (possibly, but not
the torque profile for the time
necessarily, dominant) factor.
horizon. As the car moves forward
with preview information control is
also updated
CAR: Vehicle-to-Vehicle
Communication Consortium
CAR: Vehicle-to-Vehicle
Communication Consortium
A TESTBED
AT OHIO STATE UNIVERSITY
CAR: Vehicle-to-Vehicle
Communication Consortium
Introducing L-VIS:
a VI Communication Testbed at OSU
CAR: Vehicle-to-Vehicle
Communication Consortium
Presently only one Base
Station set up.
CAR: Vehicle-to-Vehicle
Communication Consortium
CAR: Vehicle-to-Vehicle
Communication Consortium
Microhard Spectra 910A
900 MHz Modems
1 Watt, 902-928 MHz, Frequency Hopping with user
defined hopping pattern
115,200 Baud over the air
Range up to 20 miles (line of sight)- significantly less at
CAR due to low-lying terrain and surrounding buildings
Single Master (base station) and Multiple Slave
(mobile) Units, repeater units are also possible
CRC error detection, forward error correction,
encryption with 16 bit key
CAR: Vehicle-to-Vehicle
Communication Consortium
Dlink DWL-AG530 802.11a/b/g
Wifi PCI Interface
 Commercial Off the Shelf Interface Adapter
 Support Windows XP and Linux
 High speed network communication at either
2.4 GHz (802.11b/g) or 5.8 GHz (802.11a)
 Stand-in for 802.11p or other short distance,
high data rate, encrypted communications link
 Drivers are open source and may provide
significant access to network/MAC layer for
customization and experimentation
CAR: Vehicle-to-Vehicle
Communication Consortium
Hardware Testbed: Vehicles
•
1999 Honda Odessy Minivan
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Rack-mount CPU running Linux and Windows XP and front
mounted touch screen display
Roof mounted passenger display
OBD-2 vehicle data bus reader and brake,turn signal,
windshield wiper switch detectors
Forward and read laser rangefinders (SICK LMS-221)
Forward radar (Eaton-Vorad)
Differential GPS and fiber optic yaw sensor
Forward and rear cameras
2006 Highlander Hybrid SUV
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Several rack mount CPUs running Linux and QNX
360 degree surround sensing
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Differential GPS and high-accuracy 6 DOF FOG IMU
CAN vehicle data bus reader
1999 Honda Odessy Minivan
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Ibeo AlascaXT and Sick LMS-221 (2)
MaCom SRS Radar Sensors (3)
Vision based lane tracking and forward obstacle detection
CPU running Linux and front mounted touch screen display
Roof mounted passenger display
OBD-2 vehicle data bus reader and brake, turn signal,
windshield wiper switch detectors
1996 Chevrolet Tahoe
CAR: Vehicle-to-Vehicle
Communication Consortium
What about PHEV’s?
• Communication needed to determine the
location of cars
• Communication needed to plan based on the
“intent” of cars
• Although data regarding payment may be
possible through special “plugs” (implying wired
ground line connection), the wireless network
connection to the car may provide wider
possibilities especially with the two points above.
CAR: Vehicle-to-Vehicle
Communication Consortium
Conclusion
• We have only scratched the surface
of possibilities!
CAR: Vehicle-to-Vehicle
Communication Consortium