Part1-Introduction_to_Self-Driving_Cars笔记

目录

Module3 - Safety Assurance for Autonomous Vehicles

Lesson 1 - Safety Assurance for Self-Driving Vehicles

Lesson 2 - Industry Methods for Safety Assurance and Testing

Lesson 3 - Safety Frameworks for Self Driving

Module 4 - Vehicle Dynamic Modeling

Lesson 1 - Kinematic Modeling in 2D

Lesson 2 - The Kinematic Bicycle Model

 Lesson 3 - Dynamic Modeling in 2D

Lesson 4 - Longitudinal Vehicle Modeling

Lesson 5 - Lateral Dynamics of Bicycle Model

Lesson 6 - Vehicle Actuation

Lesson 7 - Tire Slip and Modeling

Module5 - Vehicle Longitudinal Control

Lesson 1 - Proportional-Integral-Derivative (PID) Control

Lesson 2 - Longitudinal Speed Control with PID

Lesson 3 - Feedforward Speed Control

Module6 - Vehicle Lateral Control

Lesson 1 - Introduction to Lateral Vehicle Control

Lesson 2 - Geometric Lateral Control - Pure Pursuit

Lesson 3 - Geometric Lateral Control - Stanley

Lesson 4 - Advanced Steering Control - MPC

Module7 - Putting it all together

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Module3 - Safety Assurance for Autonomous Vehicles

Lesson 1 - Safety Assurance for Self-Driving Vehicles

NHTSA标准

Lesson 2 - Industry Methods for Safety Assurance and Testing

工业界的实践：Waymo和GM

Lesson 3 - Safety Frameworks for Self Driving

FMEA步骤

Module 4 - Vehicle Dynamic Modeling

Lesson 1 - Kinematic Modeling in 2D

简单两轮机器人的动力学模型

Lesson 2 - The Kinematic Bicycle Model

无滑移条件下的自行车动力学模型

 Lesson 3 - Dynamic Modeling in 2D

汽车动力学模型——简化为横向和纵向。

Lesson 4 - Longitudinal Vehicle Modeling

Lesson 5 - Lateral Dynamics of Bicycle Model

Lesson 6 - Vehicle Actuation

汽油机、柴油机、电机的扭矩-转速特征曲线
 

Lesson 7 - Tire Slip and Modeling

Module5 - Vehicle Longitudinal Control

Lesson 1 - Proportional-Integral-Derivative (PID) Control

 

 

 

 

Lesson 2 - Longitudinal Speed Control with PID

纵向控制举例：自动巡航系统

 

 高等级控制器：输入速度，输出加速度

低等级控制器：输入加速度，输出油门角度

 

 传统内燃机和变速箱变化对PID控制造成了很大的挑战。

Lesson 3 - Feedforward Speed Control

前馈vs.反馈控制

前馈反馈控制结合

 

Module6 - Vehicle Lateral Control

Lesson 1 - Introduction to Lateral Vehicle Control

Lesson 2 - Geometric Lateral Control - Pure Pursuit

Lesson 3 - Geometric Lateral Control - Stanley

Lesson 4 - Advanced Steering Control - MPC

MPC - Model Predictive Control

 Receding horizon approach

 

 

 

 

 MPC略微滞后，但没有超调或震荡

MPC的灵活性的代价—— 计算需求增加、优化求解器的鲁棒性，需要在可用的时间窗口内反馈可行的解决方案。

Module7 - Putting it all together

python完成一个控制器编程，在Carla模拟器赛道上模拟。