TU Delft is recruiting a researcher for a PhD-project titled “Force-based vehicle control using reconstructed wheel loads”.
Automated Driving (AD) is the most promising but also challenging area of innovation in the automotive industry. While industry is investing heavily to enhance AD technology, proving safety of automated vehicles remains a major challenge. Despite the crucial advances in AD promoted by deep learning, in which algorithms try to learn how to drive only by using data, an important drawback is that hazardous driving scenarios known as “edge cases” are rarely available. From data alone no meaningful conclusions regarding safety can be made, the vehicle and roadway physics should be included. Therefore, the usage of a joint physics-based and data-based approaches are needed to develop control algorithms with the ability to handle extreme manoeuvres.
This PhD project will design novel controllers for the edge cases of automated vehicles (e.g. evasive manoeuvres) based on enhanced model-based estimation of vehicle and environmental parameters using force sensing technologies. The researcher will develop a novel nonlinear (force-based) pro-active control integrated with tyre force sensing technologies. The proposed control will contribute to a paradigm change from body inertial parameters control to individual corner force-based control resulting in a pro-active response and controllability in inhomogeneous road conditions.
The researcher is expected to:
- Develop novel vehicle state estimation (e.g. side slip angle) based on new sensing technologies using reconstructed information of tyre forces and moments.
- Develop pro-active vehicle control using a nonlinear model predictive control coupled with online learning.
- Investigate solutions for controlled drifting based on force measurements.
- Perform experiments to evaluate the developed control algorithms, using high-fidelity vehicle simulation models, motion base driving simulator, and the department's experimental vehicle.
Cognitive Robotics Department
The main focus of the Cognitive Robotics Department is the development of intelligent robots and vehicles that will advance mobility, productivity and quality of life. Our mission is to bring robotic solutions to human-inhabited environments, focusing on research in the areas of autonomous robots, machine perception, motion planning and control, machine learning, automatic control and physical interaction of intelligent machines with humans. We combine fundamental research with work on physical demonstrators in areas such as self-driving vehicles, collaborative industrial robots, mobile manipulators and haptic interfaces. Strong collaborations exist with cross-faculty institutes TU Delft Robotics Institute, our national robotic ecosystem (RoboValley, Holland Robotics) and international industry and academia (ROS-Industrial consortium).
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