The course is dedicated to the description of appropriate design methodologies for vehicles equipped with advanced driver-assistance systems. Part one will be devoted to study the dynamic behaviour of vehicles by means of adequate mathematical models. It will follow a part dedicated to the description of the most common sensors and actuators for the scope. A section dedicated to the implementation of the control techniques studied in part A of the course will follow. The last part will focus on the analysis of vehicles equipped with advanced driver-assistance systems with reference to the performance in terms of path follow capability, stability, comfort, drivability. Laboratory projects developed in team will strengthen the implementation capabilities and the vehicle system analysis.

Students are required to learn the design methodologies for vehicles equipped with advanced driver-assistance systems. To this end, students must learn the basics on: vehicle dynamics, characteristics of sensors and actuators, implementation of control strategies, study of vehicle performance. The skills acquired during the course are related to the understanding of: the dynamic behaviour of a vehicle equipped with advanced driver-assistance systems, the influence of the different subsystems, the role played by the control design parameter.

It is requested a background on the basics of automatic control, vehicle system design and modelling and simulation tools for vehicle analysis and control. This means the knowledge covered in the courses of motor vehicle design, automatic control, car body design and aerodynamics, numerical modelling and simulation.

The topics of the Course are listed here below 1. Vehicle Dynamics Bicycle Model: • Description of the equations of motion, • Linearization and analysis of the stability, • Study of the most relevant non-linear effects (tire non-linear behaviour, aerodynamic drag,…), • Derivation of the equations of motion at Steady State and study of the effect of the load transfer (contribution of : antiroll bar, longitudinal position of the COG, tire traction and braking force) 10 dof model • Description of the equations of motion, • Linearization of the equations of motion and description of the uncoupling between handling and comfort, • Description of the Segel model and study of the handling behaviour of the vehicle • Description of the comfort model and study of the comfort Longitudinal dynamic behaviour • Modeling of the torsional dynamic behaviour of the driveline and study of the coupling between the torsional dynamics of the driveline and the longitudinal dynamic behaviour of the vehicle. • Drivability and comfort analysis. 2. Driver Assist Vehicle Control Driver Model • Non-predictive and predictive simplified driver models (integration in the vehicle model), Longitudinal vehicle control • Antilock, Antispin (Implementation of Control Strategies) Handling control • Vehicle Dynamic Control (Implementation of Control Strategies) Suspension control • Heave control (Implementation of Control Strategies) • Roll control (Implementation of Control Strategies) 3. Autonomous Vehicle Control Technologies and methods for Autonomous Vehicle Control • An overview on the sensor technology (Camera, Radar, Lidar, IMU), • Sensor fusion techniques, • An overview on electronic control unit characteristics for image processing and vehicle control, • An overview on the actuation systems technology for autonomous vehicles. Trajectory planning • Algorithms • In Vehicle Implementation Vehicle Dynamic Control • Algorithms, • Lateral and Longitudinal Vehicle Control, • Comfort of the occupants. Three projects are developed, in strict collaboration between the two parts: • Project 1: Study the dynamic behaviour of a vehicle using the Segel model: Stability analysis and open loop manoeuvres. • Project 2: Implementation of Control Strategies . • Project 3: Implementation of trajectory planning algorithms and control of the trajectory.

The lectures will be concerned with methodological and design aspects, numerical examples and solved problems. The lab exercises will be based on the Matlab/Simulink software.

- Lecture material (slides, Matlab/Simulink files) - Rajesh Rajamani Vehicle Dynamics and Control, Mechanical Engineering Series - P. Lugner - Vehicle Dynamics of Modern Passenger Cars, 2019 - G. Genta, L. Morello, The automotive Chassis, Volume 1 and 2, Springer, 2009. - W.F. Milliken, D.L. Milliken, “Race Car Vehicle Dynamics”, SAE International, 1995. - G. Genta, "Motor Vehicle Dynamics", World Scientific, 2002

Modalità di esame: Prova orale facoltativa; Prova scritta tramite PC con l'utilizzo della piattaforma di ateneo; Prova scritta tramite l'utilizzo di vLAIB e piattaforma di ateneo; Elaborato progettuale in gruppo;

The exam is composed by - Written Exam part composed by 4 open questions and 10 multiple choice questions in a 2 hours time frame. (access to the oral and/or project discussion only if the score of the written part is ≥ 18/30) - Oral Exam part. The oral part could be optional depending on the grading of the written part (if the score of the written part is in between 18 and 23 included). - Project report presentation and discussion is mandatory. +- 3 marks will be assigned after the discussion. The validity of the written exam score is limited to the exam session

Modalità di esame: Prova scritta (in aula); Prova orale facoltativa; Elaborato grafico prodotto in gruppo; Prova scritta tramite PC con l'utilizzo della piattaforma di ateneo; Prova scritta tramite l'utilizzo di vLAIB e piattaforma di ateneo;

The exam is composed by - Written Exam part composed by 4 open questions and 10 multiple choice questions in a 2 hours time frame. (access to the oral and/or project discussion only if the score of the written part is ≥ 18/30) - Oral Exam part. The oral part could be optional depending on the score of the written part (if the score of the written part is in between 18 and 23 included). - Project report presentation and discussion is mandatory. +- 3 marks will be assigned after the discussion. The validity of the written exam score is limited to the exam session