Key Laboratories

Key Laboratory of Ministry of Unmanned Ground Vehicle (UGV), Industry and Information Technology

 

Key laboratory of Ministry of Unmanned Ground Vehicle, Industry and Information Technology was founded in 2015. Presently, there are more than 100 types of equipments. Currently, the lab offers the following experiments:

   (a) Validation experiments on the adaptation of automated driving targeted chassis controllers of engine, motor (EV and HEV), steering and braking system and X-by-wire technology.

   (b) Effects evaluation experiments of dynamics and kinematics of UGV on the perception, path planning and tracking control, as well as some complex dynamical system research of modeling and simulation.

   (c) Evaluation experiments on situation awareness, sensor fusion, specific environment objects detection, traffic factors including car and pedestrian detections of UGV.

  (d) Experiments on behavior decision making, driving behavior and humanoid learning of knowledge and experience.

   (e) Performance test of global path planning, local path planning, longitudinal velocity control, tracking control and autonomous navigation.

   (f) Experiments of swarm system and connected vehicle: e.g., the collaborative planning of multi-agent and integrated intelligent control, telematics, networked control system over internet.

   Based on instruments and equipments above, this laboratory can host up to 50 undergraduates and 60 graduates for their curriculum experiments and extracurricular activity in science and technology.

 

  1) Series Demonstration Platform of Driverless Vehicle Technology

   A series of driverless vehicles, applicable to both structured urban environment and cross-country environment (shown in Fig. 3.29) are developed by UGV Lab. The car as shown in the top figure of Fig. 3.29, fully using wire technology, can be adopted to evaluate driverless technologies conveniently. Lateral dynamic controller employs the original on-board electrical power steering system, while the longitudinal dynamic controller matches perfectly with engine control unit (ECU) and transmission control unit considering the mature powertrain automatic control technology and well-tuned kinematics characteristics. As the newly added auto-pilot system consumes less electric energy, it can be powered by on-board generator directly with no extra APU. Furthermore, the auto-pilot system can share information with situation awareness system, path planning and decision making system efficiently via a high-speed backbone, interfacing to the optimized combination with a CAN bus of chassis.

   

    2) Unmanned Platform with Articulated Suspension

   This unmanned platform with articulated suspension developed by UGV Lab provides powerful acceleration performance and high passability, which is fully dedicated to the cross-country, off-road environment. The design with high-speed and high-power-density motor improves greatly the off-road dynamic performance, which that with in-arm transmission technology reduces greatly the unsprung weight and dynamic load of suspension. Also, compared with Crusher with passive articulated suspension, the active one can strengthen the capability of crossing the vertical barrier wall.

   The platform is shown in Fig. 3.30, and its corresponding technical parameters are listed as follows:

  Specification

  Parameters

  Vehicle Weight

  ≤3000kg

  Maximum payload

  ≥500kg

  Slope climbing

  ≥32°

  Gap/trench crossing

  ≥1.75m

  Vertical barrier wall (in low speed, 10km/h)

  ≥1m

  Vertical barrier wall (in medium speed, 25km/h)

  ≥0.3m

 

   

    3) Virtual Reality based Driving Simulator

   The driving simulator Force Dynamics 401 (as shown in Fig. 3.31), in combination with Prescan software, can simulate the real-world traffic environment. This simulator has 3 DOFs offering the capability to reproduce the 3 typical behavior: acceleration, deceleration and steering. In practice, vehicle dynamic model is generated on Matlab/Simulink, the virtual environment is realized in Vizard, and collaboration simulation of multi-vehicle can be conducted on this platform.