Péter Gáspár

57191521633

Publications - 5

Reinforcement Learning-Based Robust Vehicle Control for Autonomous Vehicle Trajectory Tracking †

Balazs Nemeth Péter Gáspár Attila Lelkó

Publication Name: Engineering Proceedings

Publication Date: 2024-01-01

Volume: 79

Issue: 1

Page Range: Unknown

Description:

This publication presents a new method by which control methods based on reinforcement learning can be combined with classical robust control methods. The combination results in a robust management system that meets high-quality criteria. The described method is presented through the control of an autonomous vehicle. By choosing the reward function chosen during reinforcement learning, various driving styles can be realized, e.g., lap time minimization, track tracking, and travel comfort. The neural network was trained using the Proximal Policy Optimization algorithm, and the robust control is based on (Formula presented.). The two controllers are combined using a supervisor structure, in which a quadratic optimization task is implemented. The result of the method is a control structure that realizes the longitudinal and lateral control of the vehicle by specifying the reference speed and the steering angle. The effectiveness of the algorithm is demonstrated through simulations.

Open Access: Yes

DOI: 10.3390/engproc2024079030

Robustness analysis and reconfiguration strategy of autonomous vehicles in intersections

Balazs Nemeth Dániel Pup Péter Gáspár Peter Szilassy Ferenc Szauter

Publication Name: Saci 2019 IEEE 13th International Symposium on Applied Computational Intelligence and Informatics Proceedings

Publication Date: 2019-05-01

Volume: Unknown

Issue: Unknown

Page Range: 45-50

Description:

The paper proposes the design of a neural-network-based control strategy of autonomous vehicles in intersections. The motivation of the neural network approach is to reduce the numerically-intensive computation of the optimization problem in which the motions of autonomous vehicles are formed. In the method the neural network is trained through a preliminary optimal off-line solution. Moreover, a robustness analysis and a reconfiguration strategy for the scenarios with vehicle position disturbances are proposed. The design and the analysis are illustrated through CarSim simulation examples.

Open Access: Yes

DOI: 10.1109/SACI46893.2019.9111527

Study on a road surface estimation method based on big data analysis

Balazs Nemeth Dániel Pup Daniel Fenyes Péter Gáspár Ferenc Szauter

Publication Name: Saci 2019 IEEE 13th International Symposium on Applied Computational Intelligence and Informatics Proceedings

Publication Date: 2019-05-01

Volume: Unknown

Issue: Unknown

Page Range: 57-62

Description:

The paper presents a new method to classify the road surfaces according to the adhesion coefficient between the tire and road surface using big data approach. In this research, three different categories of the road surface are considered, such as dry, wet and icy. The purpose of classification is to create a model, which is able to determine the type of the actual road surface using only the measured data of the vehicle. The classification method is, basically, based on the C4.5 decision tree algorithm, while the data is provided the high-fidelity simulation software, CarSim. Finally, the efficiency of the resulted model is demonstrated through a complex simulation.

Open Access: Yes

DOI: 10.1109/SACI46893.2019.9111487

Robust reconfigurable control for in-wheel electric vehicles

Tímea Fülep András Mihály Zoltán Szabó Péter Gáspár Ferenc Szauter J. Bokor

Publication Name: IFAC Papersonline

Publication Date: 2015-09-01

Volume: 28

Issue: 21

Page Range: 36-41

Description:

The paper presents a fault tolerant reconfigurable control method for vehicles driven by four in-wheel electric motors and a steering system. The aim of the design is to realize robust velocity and road trajectory tracking even under challenging driving conditions or actuator failures. The vehicle is operated solely with the in-wheel motors, thus steering intervention is only applied in case of skidding or a failure of an electric motor. The reconfigurable control is realized based on Linear Parameter Varying (LPV) framework, using the specific characteristics of the in-wheel motors of fast and accurate torque control. The operation of the designed control system is demonstrated in a CarSim simulation environment.

Open Access: Yes

DOI: 10.1016/j.ifacol.2015.09.501

Integrated robust control design for in-wheel-motor vehicles

Tímea Fülep Zoltán Szabó Péter Gáspár Mihály András Ferenc Szauter J. Bokor

Publication Name: Fisita 2014 World Automotive Congress Proceedings

Publication Date: 2014-01-01

Volume: Unknown

Issue: Unknown

Page Range: Unknown

Description:

The paper proposes a multi-layer supervisory architecture for integrated control systems in road vehicles. The role of the supervisor is to coordinate active control components and provide priority among them. The supervisor has information about the current operational mode of the vehicle and it is able to make decisions about the necessary interventions into the vehicle components and guarantee the reconfigurable operation of the vehicle. The decisions of the supervisor are propagated to the lower layers through predefined interfaces encoded as suitable scheduling signals. The contribution of the paper is the application of the LPV methodology in a design case study in which an integrated control of four wheel independently-actuated electric vehicle with active steering system is developed.

Open Access: Yes

DOI: DOI not available