该课程涵盖了自动驾驶车辆的安全保障方法，包括NHTSA标准和行业实践，如Waymo和GM的测试策略。同时深入讲解了车辆动力学建模，如2D动态模型、自行车模型及轮胎打滑建模。在控制方面，讨论了PID控制在纵向速度控制中的应用，并对比了前馈控制。还介绍了车辆横向控制的几何方法，如纯追踪和Stanley控制，以及高级的模型预测控制（MPC）及其优势和挑战。最后，通过Python编程在Carla模拟器中实现了一个综合控制系统。
目录
Module3 - Safety Assurance for Autonomous Vehicles
Lesson 1 - Safety Assurance for Self-Driving Vehicles
Lesson 2 - Industry Methods for Safety Assurance and Testing
Lesson 3 - Safety Frameworks for Self Driving
Module 4 - Vehicle Dynamic Modeling
Lesson 1 - Kinematic Modeling in 2D
Lesson 2 - The Kinematic Bicycle Model
Lesson 3 - Dynamic Modeling in 2D
Lesson 4 - Longitudinal Vehicle Modeling
Lesson 5 - Lateral Dynamics of Bicycle Model
Lesson 7 - Tire Slip and Modeling
Module5 - Vehicle Longitudinal Control
Lesson 1 - Proportional-Integral-Derivative (PID) Control
Lesson 2 - Longitudinal Speed Control with PID
Lesson 3 - Feedforward Speed Control
Module6 - Vehicle Lateral Control
Lesson 1 - Introduction to Lateral Vehicle Control
Lesson 2 - Geometric Lateral Control - Pure Pursuit
Lesson 3 - Geometric Lateral Control - Stanley
Lesson 4 - Advanced Steering Control - MPC
Module7 - Putting it all together
Module3 - Safety Assurance for Autonomous Vehicles
Lesson 1 - Safety Assurance for Self-Driving Vehicles
NHTSA标准
Lesson 2 - Industry Methods for Safety Assurance and Testing
工业界的实践：Waymo和GM
Lesson 3 - Safety Frameworks for Self Driving
FMEA步骤
Module 4 - Vehicle Dynamic Modeling
Lesson 1 - Kinematic Modeling in 2D
简单两轮机器人的动力学模型
Lesson 2 - The Kinematic Bicycle Model
无滑移条件下的自行车动力学模型
Lesson 3 - Dynamic Modeling in 2D
汽车动力学模型——简化为横向和纵向。
Lesson 4 - Longitudinal Vehicle Modeling
Lesson 5 - Lateral Dynamics of Bicycle Model
Lesson 6 - Vehicle Actuation
Lesson 7 - Tire Slip and Modeling
Module5 - Vehicle Longitudinal Control
Lesson 1 - Proportional-Integral-Derivative (PID) Control
Lesson 2 - Longitudinal Speed Control with PID
高等级控制器：输入速度，输出加速度
低等级控制器：输入加速度，输出油门角度
传统内燃机和变速箱变化对PID控制造成了很大的挑战。
Lesson 3 - Feedforward Speed Control
前馈反馈控制结合
Module6 - Vehicle Lateral Control
Lesson 1 - Introduction to Lateral Vehicle Control
Lesson 2 - Geometric Lateral Control - Pure Pursuit
Lesson 3 - Geometric Lateral Control - Stanley
Lesson 4 - Advanced Steering Control - MPC
MPC - Model Predictive Control
Receding horizon approach
MPC略微滞后，但没有超调或震荡
MPC的灵活性的代价—— 计算需求增加、优化求解器的鲁棒性，需要在可用的时间窗口内反馈可行的解决方案。
Module7 - Putting it all together
python完成一个控制器编程，在Carla模拟器赛道上模拟。
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