Intelligent Vehicle & Mechatronics Laboratory

智慧型載具與機電整合實驗室

Li, Kang ( 李綱 )

Dept. of Mechanical Engineering National Taiwan University

Current Research Focuses Intelligent Vehicles

Unmanned surface vehicles (electric vessels) ( 無人電動船 ) Advanced driver assistance systems ( 先進駕駛輔助系統 ) Automated ground vehicles ( 自動化車輛 )

Sensor/Data Fusion & Applications High-precision vehicle positioning through data fusion (GPS +

motion/vision sensors + digital map) Multi-target tracking and classification (radar/lidar/vision sensors

integration) Sensor-based situation awareness

Intelligent Transportation Systems Integration of Vehicular Electronics and Information &

Communication Technology (ICT) Smart Grid

利用大型不斷電系統 (UPS) 達成區域性智慧型電網之最佳供電控制

Lab Members

Lab Advisor – Dr. Li, Kang ( 李綱 ) Assistant Professor, ME, NTU, August 2010-present 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~present) Five Undergraduate Students (2010~present) New lab members wanted!

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

影片連結

5

VII* ADAS: On-Board System

User Machine Interface

Computation Platform and Digital Map Database

GPS Receiver

PC-104

(Optical Gyro)

ISA Computer

(MEMS Gyro, Accelerometers, Wheel Speed, etc.)

RS 232

RSE

UDP Sockets

Cell-Phone

VII Map Message

Bluetooth

DSRC, WiMax, WiFi...

SOBU

GPS Antenna

Wave Radio Antenna

•VII: Vehicle Infrastructure Integration research program of US DOT

• ADAS: Advanced Driver Assistance System

VII ADAS: Exemplar Applications

1. Map update/enrichment & dynamic roadway information through wireless communication

2. Speed warning – curve, stop sign, intersection,etc.

3. Lane departure/wrong way warnings

4. In-vehicle signing

VII ADAS Demo• The VII ADAS integrates on-board sensors, DGPS, digital maps, and wireless communication to perform driver safety assistance applications.

• A demo video is available on YouTube at http://www.youtube.com/watch?v=5vuKvW_5QVM

影片下載

Automated Bus• Lateral guidance & control

• Automatic bus precision docking system (gap:1~2 inches)

Courtesy of Dr. Han-Shue Tan, California PATH, UC-Berkeley.

影片連結

Mobile-enabled Cloud Service: Roadway Information System

OBD II data link connector

Vehicle Data Bus

OBD II Data Link Connector

OBD II Data Reader

Microprocessor

Digital Cell-phone Chip

Set

Antenna

Cellular Tower

In-vehicle Device

Cloud Server

GPS/INS

• Cellphone & CAN Integration• Wireless access to cloud computing

High-precision Vehicle Navigation

System

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 ) Augmented speed enforcement

system (U.S.) Intersection collision avoidance

system Unmanned surface vehicle target-

tracking & classification

Research Projects 2010~

High-precision vehicle localization in urban canyons 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 )

台大智慧型電動車 ( 台大 , 昇陽國際半導體 , 楊宏智教授等 )

2011~ Mobile-enabled cloud service – roadway information

system and cooperative adaptive cruise control ( 工研院資通所 , 交大電機與控制系 )

利用大型不斷系統 (UPS) 達成區域性智慧型電網之最佳供電控制 ( 台大 , 昇陽國際半導體 )

前瞻感知技術與跟車演算法研究 ( 車測中心 , 台大電機 ) 無人電動船 ( 中科院 , 船舶設計發展中心 )