Design of Adaptive Controller for EV

based Smart Transportation System

Brij Mohan Prasad (Ph. D. Scholar) PHD/EE/10051/23
Assistant Professor, Dept. of EEE
UNDER THE GUIDANCE OF
Dr. Aftab Alam, Assistant Professor, Dept. of EEE
Dr. Junaid Akhtar, Assistant Professor, Dept. of EEE
 Smart transportation system
• The increasing worldwide use of automobiles has motivated the need
to develop vehicles that optimize the use of highway and fuel
resources, provide safe and comfortable transportation and at the
same time have minimal impact on the environment.
• Smart transportation system is used to describe a collection of
concepts, devices, and services that combine control, sensing and
communication technologies to improve the safety, mobility,
efficiency,and environmental impact of vehicle/highway systems.
 Smart transportation system
• A hybrid electric vehicle (HEV) includes both a conventional internal
combustion engine (ICE) and an electric motor in an effort to combine
the advantages of both systems
• It aims to obtain significantly extended range compared to an electric
vehicle, while mitigating the effect of emissions and improving fuel
economy compared to a conventional ICE powertrain.
 Smart transportation system
• Three types of lateral systems have been developed in the automotive
industry that address lane departure accidents
• lane departure warning systems (LDWS)
• lane keeping systems (LKS)
• yaw stability control systems
 Lane departure system
• A lane departure warning (LDW) system is a system that monitors the
vehicle’s position with respect to the lane and provides warning if the
vehicle is about to leave the lane

Fig. 1: LDW system based on lane markings

 Lane departure system
• An example of a commercial LDW system under development is the
AutoVue LDW system by Iteris
• The AutoVue device is a small, integrated unit consisting of a camera,
onboard computer and software that attaches to the windshield,
dashboard or overhead.
• The system is programmed to recognize the difference between the
road and lane markings
• The unit’s camera tracks visible lane markings and feeds the
information into the unit’s computer, which combines this data with
the vehicle’s speed
 Lane departure system
• Using image recognition software and proprietary algorithms, the
computer can predict when a vehicle begins to drift towards an
unintended lane change
• When this occurs, the unit automatically emits the commonly known
rumble strip sound, alerting the driver to make a correction
 Lane keeping systems
• A lane-keeping system automatically controls the steering to keep the
vehicle in its lane and also follow the lane as it curves around.
• An example of a lane keeping system was demonstrated at California
based on the use of cylindrical magnets embedded at regular intervals
in the center of the highway lane.
• The magnetic field from the embedded permanent magnets was used
for lateral position measurement of the vehicle
 Lane keeping systems
• Another example of lane keeping system was development of lateral
position measurement systems using vision cameras
• Lateral control systems were demonstrated using vision based
measurement
• Lane departure warning and lane keeping systems have been
developed based on the use of differential GPS for lateral position
measurements
 Yaw stability control systems
• Vehicle stability control systems that prevent vehicles from spinning
and drifting out have been developed and recently commercialized by
several automotive manufacturers.
• Such stability control systems are also often referred to as yaw control
systems or electronic stability control systems.
• Three types of stability control systems have been proposed and
developed for yaw control
 Yaw stability control systems
• Differential Braking systems which utilize the ABS brake system on the
vehicle to apply differential braking between the right and left wheels
to control yaw moment.
• Steer-by-Wire systems which modify the driver’s steering angle input
and add a correction steering angle to the wheels
• Active Torque Distribution systems which utilize active differentials
and all wheel drive technology to independently control the drive
torque distributed to each wheel and thus provide active control of
both traction and yaw moment.
 Automated highway systems
• In an automated highway system (AHS), vehicles are fully automated and
travel together in tightly packed platoons
• A traffic capacity that is up to three times the capacity on today’s
manually driven highways can be obtained
• Vehicles have to be specially instrumented before they can travel on an
AHS
• A driver with an instrumented vehicle can take a local road from home,
reach an automated highway that bypasses congested downtown
highway traffic, travel on the automated highway, travel on a subsequent
regular highway and reach the final destination, all without leaving
his/her vehicle
Development of adaptive controller

P is the plant transfer function between the steering angle

input for the vehicle and the lateral position measurement
output

C represents the transfer function for the controller

The road-determined desired yaw rate affects the system

dynamics through a transfer function denoted as G(s)

The signal n(t) is the sensor noise that affects the system

Fig. 2: Unity feedback loop system

 Objective
• Design of steering angle controller
• Design of controller for drives
• Design of robust controller with immunity against system noise and
external noise
 Problem formulation

Output state ( , )
Mathematical Mathematical
model of model of car
drives Minimization
-
e of error
between
+
measured and
computed
states
Physical drives Physical car

Fig. 3: Block diagram of adaptive controller

 Literature Survey
S. No. Title Author Publication Description
1. A survey on Barricelli, IEEE access 7 State-of-the-art definitions of DT,the main
digital twin: Barbara Rita, (2019): characteristics of a DT and the domains in
Definitions, Elena 167653- which DT applications are currently being
characteristics, Casiraghi, and 167671 developed are presented.
applications, and Daniela Fogli
design
implications
2 Digital twin: Fuller, Aidan, IEEE access 8 The challenges, applications, and enabling
Enabling Zhong Fan, (2020): technologies for Artificial Intelligence,
technologies, Charles Day, 108952- Internet of Things (IoT) and Digital Twins
challenges and and Chris 108971 are presented
open research Barlow
3 Digital twin in Tao, Fei, He IEEE The state-of-the-art of the DT research
industry: State-of- Zhang, Ang Transactions concerning the key components of DTs,
the-art Liu, and on industrial the current development of DTs, and the
Andrew YC informatics 15, major DT applications in industry are
reviewed.
Nee no. 4 (2018):
2405-2415.
S. No. Title
Literature
Author
Survey
Publication Description
4. Digital twin: Values, Rasheed, Adil, IEEE access 8 he recent status of methodologies
challenges and Omer San, and (2020): 21980- and techniques related to the
enablers from a Trond Kvamsdal 22012 construction of digital twins mostly
modeling perspective from a modeling perspective are
reviewed
5 A digital twin Wang, Ziran, Xishun 2020 IEEE 91st A digital twin paradigm is
paradigm: Vehicle-to- Liao, Xuanpeng Vehicular Technology developed using an advanced
cloud based advanced Zhao, Kyungtae Han, Conference (VTC2020- driver assistance system (ADAS) for
driver assistance Prashant Tiwari, Spring), pp. 1-6. IEEE, connected vehicles.
systems Matthew J. Barth, 2020
and Guoyuan Wu

6 Towards next Wang, Zijin, Ou IEEE Transactions on a Digital Twin framework for CV
generation of Zheng, Liangding Li, Intelligent and pedestrian in-the-loop
pedestrian and Mohamed Abdel- Vehicles (2023) simulation is proposed. Vehicle-
connected vehicle in- Aty, Carolina Cruz- Pedestrian (V2P) warning system is
the-loop research: A Neira, and Zubayer investigated through a case study.
digital twin co- Islam
simulation framework
 Literature Survey
S. Title Author Publication Description
No.
7. Digital Twin-Based R. H. Guerra, R. Quiza, IEEE Access, vol. 7, pp. Design of the digital twin and
Optimization for A. Villalonga, J. 93462-93472, 2019 its implementation, assuming a
Ultraprecision Motion Arenas and F. Castaño two-mass drive system. Virtual
Systems With Backlash representation of mechanical
and Friction and electrical components,
non-linearities and the control
system is made.
8 Interface Development A. Rassõlkin et al .IEEE Access, vol. 10, pp. A development case study of
for Digital Twin of an 15635-15643, 2022 Digital Twin for an electric
Electric Motor Based motor based on an empirical
on Empirical performance model is
Performance Model proposed
9 Review and Hu, Zhongxu, Shanhe IEEE Transactions on A novel concept of a driver
perspectives on driver Lou, Yang Xing, Xiao Intelligent Vehicles 7, digital twin (DDT) is proposed
digital twin and its Wang, Dongpu Cao, no. 3 (2022): 417-440. to bridge the gap between
enabling technologies and Chen Lv existing automated driving
for intelligent vehicles systems and fully digitized ones
 Literature Survey
S. No. Title Author Publiction Description
10. Digital twin-assisted Wang, Ziran, Kyungtae IEEE Transactions An enhanced first-in-first-out
cooperative driving at Han, and Prashant Tiwari on Intelligent (FIFO) slot reservation
non-signalized Vehicles 7, no. 2 algorithm is developed to
intersections (2021): 198-209 schedule the sequence of
crossing vehicles
11. Mobility digital twin: Wang, Ziran, Rohit Gupta, IEEE Internet of a mobility digital twin (MDT)
Concept, Kyungtae Han, Haoxin Things Journal 9, framework is developed, which
architecture, case Wang, Akila Ganlath, no. 18 (2022): is defined as an artificial
study, and future Nejib Ammar, and 17452-17467. intelligence (AI)-based data-
challenges Prashant Tiwari driven cloud–edge–device
framework for mobility
services.
12. Driver digital twin for Liao, Xishun, Xuanpeng IEEE Internet of A driver digital twin (DDT)is
online prediction of Zhao, Ziran Wang, Things developed for the online
personalized lane Zhouqiao Zhao, Kyungtae Journal (2023). prediction of personalized lane-
change behavior. Han, Rohit Gupta, change behavior, allowing CAVs
Matthew J. Barth, and to predict surrounding vehicles’
Guoyuan Wu. behaviors with the help of the
digital twin technology
 Literature Survey
S. No. Title Autor Publication Description
13. Evaluate the connected M. U. Shoukat, S. 2021 5th CAA A multi-source dynamic game
autonomous vehicles Yu, S. Shi, Y. Li International model is established to carry out
infrastructure using digital and J. Yu Conference on the measurement of autonomous
twin model based on Vehicular Control and vehicle dynamics model, control
cyber-physical Intelligence (CVCI), estimation, decision strategy,
combination of intelligent pp. 1-6. IEEE, 2021 forward and backward safety
network mechanism, and planning of mixed-
traffic flow route

14 Sensor fusion of camera
and cloud digital twin
information for intelligent
vehicles
Liu, Yongkang, 2020 IEEE Intelligent To advance the development of
Ziran Wang, Vehicles Symposium visual guidance systems, a novel
Kyungtae Han, (IV), pp. 182-187. sensor fusion methodology is
Zhenyu Shou, IEEE, 2020. introduced, integrating camera
Prashant Tiwari, image and Digital Twin knowledge
and John HL from the cloud
Hansen
S. No. Title
Literature
Author
Survey
Publication
15. Understanding the Ezhilarasu, Cordelia 2019 IEEE International The role played by DT in the field
role of a digital twin Mattuvarkuzhali, Conference on Systems, of Integrated Vehicle Health
in integrated vehicle Zakwan Skaf, and Ian Man and Cybernetics Management (IVHM) is
health management K. Jennions (SMC), pp. 1484-1491. discussed
(IVHM). IEEE, 2019
16. The twin-in-the- Dettù, Federico, IEEE/ASME Transactions A nominal controller is designed
loop approach for Simone Formentin, on Mechatronics (2023) on a simulator and the simulator
vehicle dynamics and Sergio Matteo can be run onboard in the
control Savaresi electronic control unit, to
calculate the nominal control
action in real-time
17. Digital twin Wang, Ziran, 2021 IEEE 1st A Digital Twin simulation
simulation of Kyungtae Han, and International architecture is proposed, where
connected and Prashant Tiwari Conference on Digital the ACC system can be designed
automated vehicles Twins and Parallel to satisfy each driver's
with the unity game Intelligence (DTPI), pp. preference with the help of
engine 1-4. IEEE, 2021 cloud computing
 Literature Survey
S. No. Title Author Publication Distribution
18. Autonomous Niaz, Ashfaq, 2021 International A framework based on DT to test
driving test method Muhammad Usman Conference on connected autonomous driving
based on digital Shoukat, Yanbing Jia, Computing, in a limited environment is
twin: A survey Samiullah Khan, Fahim Electronic and proposed, in which, the
Niaz, and Muhammad Electrical maneuver of DT is used to realize
Usama Raza Engineering (ICE the real connected autonomous
Cube), pp. 1-7. IEEE, driving test in virtual complex
2021 road scenes

19. Modeling Xie, Shanshan, Shitao 2020 IEEE Intelligent To build DVE system dynamics,
Methodology of Chen, Nanning Zheng, Vehicles Symposium firstly, we propose an
Driver-Vehicle- and Jianqiang Wang (IV), pp. 1984-1991. architecture to cope with the
Environment IEEE, 2020 complicated interactions in
System Dynamics in automated vehicles (AVs) and in
Mixed Driving mixed traffic situations
Situation
 Longitudinal vehicle dynamics

Fig. 4: Longitudinal forces acting on a vehicle moving on an inclined road

Longitudinal vehicle dynamics
Aerodynamic drag force
 Rolling resistance

where f is the rolling

resistance coefficient.

Fzf and Fzr are the normal

force on each set of tires

Fig. 5: Asymmetric normal load distribution on the contact patch

 Normal tire force
The normal load on the tires is influenced by
• fore-aft location of the c.g.
• longitudinal acceleration of the vehicle
• aerodynamic drag forces on the vehicle
• grade (inclination) of the road
 Normal tire force
• h is the height of the c.g. of the vehicle
•haero is the height of the location at which the equivalent aerodynamic
force acts
•lf is the longitudinal distance of the front axle from the c.g. of the
vehicle
•lr is the longitudinal distance of the rear axle from the c.g. of the vehicle
•reff is the effective radius of the tires
 Normal tire force

Fig. 6: Calculation of normal tire loads

Normal tire force
Taking moments about the contact point of the rear tire

Taking moments about the contact point of the front tire

Bicycle model of lateral vehicle dynamics
• A “bicycle” model of the vehicle with two degrees of freedom is con
sidered
• The two degrees of freedom are represented by the vehicle lateral
position y and the vehicle yaw angle Ψ
• The vehicle lateral position is measured along the lateral axis of the
vehicle to the point O which is the center of rotation of the vehicle
• The vehicle yaw angle Ψ is measured with respect to the global X axis
• The longitudinal velocity of the vehicle at the c.g. is denoted by Vx
Fig. 7: Lateral vehicle dynamics
 Lateral vehicle dynamics

centripetal acceleration

ay is the inertial acceleration of the vehicle at the c.g. in the

direction of the y axis
Fyf and Fyr are the lateral tire forces of the front and rear
wheels respectively

is acceleration which is due to motion along the y axis

 Lateral vehicle dynamics
Moment balance about the z axis yields the equation for the
yaw dynamics as

where lf and lr and are the distances of the front tire and the
rear tire respectively from the c.g. of the vehicle
 Lateral tire force

The lateral tire force of a tire is proportional to the “slip-angle”

for small slip-angles
The slip angle of a tire is defined as the angle between the
orientation of the tire and the orientation of the velocity vector
of the wheel
 Lateral tire force

the slip angle of the front wheel is

where Θvf is the angle that the velocity vector makes with the
longitudinal axis of the vehicle and δ is the front wheel
steering angle

The rear slip angle is similarly given by

Fig. 8: Tire slip-angle

 Lateral tire force
The lateral tire force for the front wheels of the vehicle can
θvr is the rear tire velocity angle
therefore be written as

proportionality constant Cαf is called the cornering stiffness of

each front tire
δ is the front wheel steering angle

θvf is the front tire velocity angle

Similarly the lateral tire forcefor the rear wheels can be written as

Cαr is the cornering stiffness of each rear tire

 Lateral vehicle dynamics
The following relations can be used to calculate θvf and θvr

Using small angle approximations and using the notation

Lateral vehicle dynamics
State model
 Road bank angle

If the influence of road bank angles is included, then

ϕ is the road bank angle

 Road bank angle

Fig. 9: Sign convention for bank angle

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THANK YOU