Intelligent Vehicle & Mechatronics Laboratory 智慧型載具與機電整合實驗室

1. Dept. of Mechanical Engineering National Taiwan University Intelligent Vehicle & Mechatronics Laboratory智慧型載具與機電整合實驗室 Li, Kang (李綱)

2. Intelligent Vehicle & Mechatronics Lab • Intelligent Vehicles • Unmanned Ground/Surface/Aerial/Underwater Vehicles (UGV/USV/UAV/UUV) • Vehicle automation and autonomous control • Biologically inspired vehicle control • Advanced driver assistance systems • Mechatronics – The marriage of mechanical engineering, electrical engineering, computer science, system engineering & controls engineering.

3. Current Research Focuses • Sensor/data fusion • High-precision vehicle positioning (GNSS + motion/vision sensors + digital maps) • Multi-target tracking and classification (radar/lidar/vision sensors integration) • Sensor-based situation awareness • Information and communication technology (ICT) for intelligent vehicle applications • WAVE/DSRC-enabled cooperative transport (safety & non-safety) systems • Integration of CAN/mobile devices and cloud computing • Communication-based cooperative adaptive cruise control (CACC) • Vehicle dynamics & controls • Electric vehicles (EV) and unmanned surface vehicles (USV) • Semi-active/active suspension modeling & controls • Real-time model predictive control • Advanced driver assistance systems

4. Lab Members • Lab Advisor – Dr. Li, Kang (李綱) • Postdoctoral Scholar, PATH, UC-Berkeley, 2009~2010 • Ph.D., ME, UC-Berkeley, 2009 • M.S., ME, UC-Berkeley, 2005 • B.S., ME, NTU, 2000 • Two Graduate students (2010~) • Five Undergraduate Students (2010~) • New lab members wanted!

5. (Ongoing/Prospective) Research Projects • 2010~ • High-precision vehicle localization in urban canyons (NSC,NTU) • Sensor fusion for multi-target tracking and classification (PATH UC-Berkeley, 中興工程顧問公司,訊田,東山科技) • 2011~ • Mobile-enabled cloud service – roadway information system and cooperative adaptive cruise control (ITRI,NCTU EE) • 前瞻感知技術與跟車演算法研究 (ARTC, NTU EECS) • Unmanned surface vehicles (中科院,船舶設計發展中心)

6. Mobile-enabled Cloud Service: Roadway Information System(RIS) 合作單位：工研院資通所, 交大電機與控制工程學系 研發重點方向 運用行動裝置與內建感應器、車載系統與感應器、無線通訊與雲端計算之技術，開發俱備資料高精確性(時間與空間)之即時路況資訊系統(Real-time RIS)。此系統提供之資訊涵蓋所有可能影響用路人/駕駛者判斷和車輛控制系統等之(動/靜態)路面、交通狀況和氣候等資料。 利用車上現有感應器或駕駛輔助系統(e.g., ESC, ABS)所偵測之道路參數和行車資訊，例如:異常路面、天候狀況、車輛行駛狀態等，有選擇性得上傳給雲端伺服器，並將處理分析過之資料與其他用路人分享。 開發手機和車輛CAN-bus資料雙向傳輸之技術，藉以利用手機為車載系統和雲端間之通訊介面，並利用已開發之車輛高精度定位系統，擴大本路況資訊系統之普及率和資料收集之密度(時間和空間)及正確性。 透過蒐集行動裝置、PND和車載電腦上傳雲端之動態交通資訊(including GPS、high rate sensors’data)，進行即時性之區域交通流量預測與分析。 由雲端回授每個路段最佳之車流速度與道路參數，提供Cooperative Adaptive Cruise Control (CACC)系統自動調節最佳之車速，使車流順暢，並能在兼顧安全性之下減少剎車的使用時機，從而提高能源使用效率。

7. Vehicle Data Bus OBD II Data Reader OBD II Data Link Connector Microprocessor OBD II data link connector GPS/INS Digital Cell-phone Chip Set Mobile-enabled Roadway Information System: Cellphone-CAN Interface In-vehicle Device Cellular Tower Cloud Server Antenna

8. Unmanned Surface Vehicles (USV) • Electric Vessels ( prototypes at 淡水八里,高雄) • Sensor-based situation awareness • Dynamic route planning • Harbor and sea navigation, docking, evasive maneuvers • Dynamic reconfiguration and management of systems & resources • Research partners: 聯合船舶設計發展中心, 中科院

9. Sensor Fusion for Multi-target Tracking and Classification • Sensor candidates: • Doppler tracking radar • Laser-scanner • Video camera • Applications: • Law enforcement system at Snow Mountain Tunnel (雪山隧道內) • Augmented speed enforcement system (U.S.) • Intersection collision avoidance system • Unmanned surface vehicle motion control

10. Research Partners • California PATH, UC-Berkeley • Laboratoire Central des Ponts et Chaussées (LCPC), France • Industrial Technology Research Institute (Information & Communication Research Lab) • Automotive Research & Testing Center (ARTC) • United Ship Design & Development Center (財團法人聯合船舶設計發展中心) • Chung-Shan Institute of Science & Technology (中山科學研究院) • Honda R&D Co., Ltd. Automobile R&D Center (Kiyotaka Kawashima, Dr. Eng.) • Taiwan Fanuc Robotics Ltd. • Gemintek (捷萌科技) • Information Field Co. (訊田企業)