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,  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 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 BusOBD 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 )