Estimacija brzine vozila pomoću akcelerometra i mjerenja brzine kotača

undergraduate thesis

• Title (english): Vehicle speed estimation using accelerometer and wheel speed measurements
• Author: Franjo Lacković
• Mentor: Šandor Ileš (mentor)
• Committee member: Šandor Ileš (predsjednik povjerenstva)
• Committee member: Petar Makarun (član povjerenstva)
• Committee member: Josip Kir Hromatko (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2023-02-08, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Ovaj rad bavi se metodama za estimaciju uzdužne brzine vozila na temelju mjerenja brzina kotača i ubrzanja. Budući da brzina mjerena pomoću enkodera ne odgovara nužno
stvarnoj brzini vozila, usporedbom mjerene i estimirane brzine moguće je dobiti podatak o klizanju. Implikacije iza ovog saznanja značajne su za projektiranje sustava upravljanja vozilom, poglavito sigurnosnih sustava temeljenih na detekciji klizanja kotača koji sprječavaju gubitak kontrole nad vozilom. Podatak o brzini vrtnje kotača pribavljen je mjerenjem impulsa pomoću magnetskog enkodera, a ubrzanje je mjereno akcelerometrom. Izvedba algoritma estimacije brzine ostvarena je na računalu pomoću Matlaba. Algoritam je testiran na maketi vozila.

Abstract (english)

In this work, methods for estimating longitudinal vehicle speed based on wheel speed and acceleration measurements are investigated. Since the vehicle speed measured using incremental encoders does not necessarily match the actual speed of the vehicle, it is possible to obtain information about wheel slip by comparing the measured speed with the estimated speed. This is of great importance for the development of vehicle control systems, especially safety systems that prevent loss of control of the vehicle due to detection of wheel slip. Wheel speed data is obtained by measuring pulses from magnetic incremental encoders, while acceleration data is obtained by an accelerometer. The algorithm is executed using the STM32 Nucleo board. The algorithm is tested on a physical vehicle model.

• Keywords: brzina vozila; enkoder; akcelerometar; ubrzanje; klizanje; fuzija senzora
• Keywords (english): vehicle speed; encoder; accelerometer; acceleration; wheel slip; sensor fusion
• Language: croatian
• URN:NBN: urn:nbn:hr:168:382141
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-10-11 09:30:32