Project description
Addressing challenging lane changes for intelligent articulated heavy vehicle control
The complex traffic environment and varying road conditions make controlling lane changes for intelligent articulated heavy vehicles (IAHV) challenging. Supported by the Marie Skłodowska-Curie Actions programme, the RACE project aims to develop real-time, safe, and possibly optimal strategies for trajectory generation in lane change control systems. This will be done by adjusting dynamic thresholds and using deep neural networks for switching among different operation modes. Accurate estimation of vehicle parameters and state, as well as robust control strategies, will be utilised to achieve precise tracking of the dynamic trajectories. The project will facilitate knowledge exchange among experts in various fields (automotive, control, mechanical and transportation engineering) and provide a theoretical basis for IAHV control in complex traffic environments.
Objective
The complex traffic environment with dynamic changes of speed and acceleration of multi-surrounding vehicles, and adhesion coefficient and curve radius of the road, results in that the optimal and precise control of lane change for intelligent articulated heavy vehicle (IAHV) is difficult to be achieved. According to the real-time states of multi-surrounding vehicles and road parameters, the real-time safe optimal trajectory of lane change is obtained by setting the multi-objective function considering efficiency, jack-knife, yaw and roll stability. The dynamic thresholds of each control mode, which are modified by real-time trajectory and road parameters, are obtained, and then the multi-mode switching mechanism is established by deep neural network. The vehicle parameters and states are accurately estimated by using an estimator with multi-estimation algorithms combining steady state with dynamic state. Considering the parameter uncertainty, a robust control strategy based on a linear parameter-varying model is designed to real-time achieve precise and optimal tracking control of dynamic trajectory and maintain vehicle stability by optimizing weight coefficients and multi-mode switching. Thus, the safe and optimal lane change of IAHV under normal and extreme conditions with different velocities and loads is realized. The proposed control strategy is verified on HIL bench. The research results will provide theoretical basis for IAHV control in complex traffic environment.
This project provides a unique knowledge exchange from leading experts in different fields (vehicle, control, mechanical, transportation, optimization, motor, pneumatic) to solve the challenges in IAHV. The fellow will benefit from not only the scientific impact of the work but also exposure to new techniques and collaborative networks in different disciplines. The dedicated training and high scientific value will help the fellow to become an independent researcher in a world-leading institution.
Keywords
Project’s keywords as indicated by the project coordinator. Not to be confused with the EuroSciVoc taxonomy (Fields of science)
Project’s keywords as indicated by the project coordinator. Not to be confused with the EuroSciVoc taxonomy (Fields of science)
Programme(s)
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
Multi-annual funding programmes that define the EU’s priorities for research and innovation.
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HORIZON.1.2 - Marie Skłodowska-Curie Actions (MSCA)
MAIN PROGRAMME
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Topic(s)
Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Calls for proposals are divided into topics. A topic defines a specific subject or area for which applicants can submit proposals. The description of a topic comprises its specific scope and the expected impact of the funded project.
Funding Scheme
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
Funding scheme (or “Type of Action”) inside a programme with common features. It specifies: the scope of what is funded; the reimbursement rate; specific evaluation criteria to qualify for funding; and the use of simplified forms of costs like lump sums.
HORIZON-TMA-MSCA-PF-EF - HORIZON TMA MSCA Postdoctoral Fellowships - European Fellowships
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Call for proposal
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
Procedure for inviting applicants to submit project proposals, with the aim of receiving EU funding.
(opens in new window) HORIZON-MSCA-2023-PF-01
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Net EU financial contribution. The sum of money that the participant receives, deducted by the EU contribution to its linked third party. It considers the distribution of the EU financial contribution between direct beneficiaries of the project and other types of participants, like third-party participants.
27100 Pavia
Italy
The total costs incurred by this organisation to participate in the project, including direct and indirect costs. This amount is a subset of the overall project budget.