MoBIES Vehicle-Vehicle Open Experimental Platform
· Simulation Models and Software
- SHIFT multi-vehicle control simulation
- SHIFT package - click on "Downloads" on this page
- Source code for the publish/subscribe library and database, implemented for the operating system QNX. Includes a simple example of how to use the database.
- Version 1.0 Vehicle Longitudinal Dynamics Simulation Model in Teja
- Version 1.1 Vehicle Longitudinal Dynamics Simulation Model in Teja
- Version 1.1 Vehicle Longitudinal Dynamics and version 1.0 Controller Simulation Model in Teja
- Version
2.0 Vehicle-to-Vehicle ACC Simulation in Teja
Note: works in TEJA 4.4. The next releases will probably use a newer version of TEJA... - Version
2.1 Vehicle-to-Vehicle C/ACC Simulation in Teja
Note: Only works in TEJA 1.0.6 or higher - Version
2.2 Vehicle-to-Vehicle C/ACC Simulation in Teja July 2002
Note: Only works in TEJA 1.0.6 or higher - Simplified Vehicle Models: These models are based on the above version 2.2 simulation and include the controller model. However, the vehicle model has been simplified. (See documentation below.)
- No Map Model: Same as original model (11 continuous-time states, includes torque converter, wheel slip, and actuator models) but uses formula approximations in place of external engine map data.
- Reduced State Model: Model is reduced to only 3 continuous-time states. Torque converter, wheel slip, and actuator models are eliminated. Also does not use external engine map data. (Model is still nonlinear.)
· Documentation for Vehicle Hardware and Software
- Stavros Tripakis & S. Yovine: Modeling, Timing Analysis and Code Generation of PATH's Automated Vehicle Control Application Software
- Anouck Girard: Integration of Tools and Control Architecture Design Document
- Stavros Tripakis: Description of schedulability challenge problem and publish and subscribe architecture in QNX
- Distributed code for the publish/subscribe architecture
- J.C. Gerdes, D.B. Maciuca, J.K. Hedrick, "Brake System Modeling for IVHS Longitudinal Control," Advances in Robust and N Systems, DSC-Vol. 53, ASME Winter Annual Meeting, New Orleans, LA, 1993
- A.R. Girard, J.B. deSouza, and J.K. Hedrick: An Overview of Emerging Results in Networked Multi-Vehicle Systems
- A.R. Girard, J.B. deSouza, J.A. Misener and J.K. Hedrick: A Control Architecture for Integrated Cooperative Cruise Control and Collision Warning Systems
- R. Rajamani, A. Howell, C. Chen, J.K. Hedrick and M. Tomizuka: A Complete Fault Diagnostic System for the Operation of Automated Vehicles in a Platoon
- Vehicle Modeling for V2V Control – July 2002 - Michael C. Drew: Power Point Presentation, Vehicle Modeling Report (Draft Version).