Category Archives: Control

Vehicle Interface & PACMod2

Posted on 12/07/2024 by hangcui1201

Stay tuned for future updates! The Vehicle Interface component provides an interface between Autoware and a vehicle that passes control signals to the vehicle’s drive-by-wire system and receives vehicle information that is passed back to Autoware. Vehicle Lateral Interface Longitudinal … Continue reading →

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Vehicle Accel/Brake Calibration

Posted on 11/17/2024 by hangcui1201

Stay tuned for future updates! Acceleration and Brake Map Calibration Raw Vehicle Command Converter Steer Offset Estimator Reference Acceleration and Brake Calibration (Polaris GEM Vehicles) accel_brake_map_calibrator Raw Vehicle Command Converter (Polaris GEM Vehicles) Steer Offset Estimator (Polaris GEM Vehicles) Reference … Continue reading →

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Real-time Control Module for HIL

Posted on 10/19/2024 by hangcui1201

I developed a real-time control module (a.k.a. simplified dSPACE MicroAutoBox or Speedgoat target machine) using TI C2000 microcontrollers for hardware-in-the-loop (HIL) applications in electric vehicles, utilizing both CAN and Ethernet interfaces. The system architecture assigns one CPU and CLA group … Continue reading →

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Dynamics & Control

Posted on 10/12/2024 by hangcui1201

Stay tuned for future updates! Pure Pursuit Lateral Controller (Kinematic Bicycle Model) Stanley Lateral Controller (Kinematic/Dynamic Bicycle Model) LQR Tracker with Feed Forward Term (Dynamic Bicycle Model) Model Predictive Control (Dynamic Bicycle Model) Coming more, stay tuned for future updates! … Continue reading →

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TI MCU and MPU

Posted on 09/23/2024 by hangcui1201

Contents TI C2000 Microcontroller TI ARM-based MCU & MPU I learned to work with C2000 microcontrollers under the guidance of my teacher, Dan Block, at the University of Illinois Urbana-Champaign. If you’re interested in learning more about C2000, I highly … Continue reading →

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