Sustav asistencije vozaču za zadržavanje vozila u prometnoj traci

master's thesis

• Title (english): Driver Assistance System for Lane Keeping
• Author: Davor Miočević
• Mentor: Šandor Ileš (mentor)
• Committee member: Šandor Ileš (predsjednik povjerenstva)
• Committee member: Jadranko Matuško (član povjerenstva)
• Committee member: Luka Pravica (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2025-02-27, Croatia

Abstract

U ovom diplomskom radu predstavljeni su razvoj i testiranje regulatora za zadržavanje vozila u traci. Prilikom izrade rada, prvi korak bio je razvoj kontinuiranog modela bočne dinamike, temeljenog na bicikl modelu automobila u ovisnosti o brzini. Model je opisan u prostoru stanja, a varijable stanja su pogreška pozicije i orijentacije u odnosu na cestu.
Sljedeći korak je sinteza regulatora. Prvi sintezirani regulator bio je LQR (engl. Linear Quadratic Regulator), čije su matrice Q i R podešene zahtjevima konkretnog modela. Nakon njega, sinteziran je regulator pomoću naredbe Place, koristeći polove dobivene LQR regulatorom, koji je dao isto pojačanje kao i LQR. S obzirom da su odzivi imali pogrešku u stacionarnom stanju, dodan je Feedforward regulator koji je uspješno poništio pogrešku pozicije, no ne i pogrešku kuta zakreta vozila. Posljednji korišteni regulator je diskretni Bass-Gura, temeljen na pretvorbi kontinuiranog modela u kanonički upravljivi oblik (CCF). Ovom metodom izravno se postavljaju željeni polovi zatvorenog sustava, dok se pojačanje prvo računa u kanonički upravljivom obliku, pa se onda pretvara nazad u originalni koordinatni sustav.
Preko odziva prvo jednostavnog bicikl modela vozila, a kasnije i pravog simulacijskog modela, pokazano je da svi regulatori funkcioniraju, te su demonstrirane specifične prednosti i mane sinteze regulatora pomoću LQR i Bass-Gura regulatora.

Abstract (english)

In this master's thesis, a regulator has been developed and tested for a lane keeping system (LKA) in a vehicle model. During the development, the first step was the creation of a continuous lateral dynamics model based on the bicycle model of a car, in which the dynamics depend on the vehicle's speed. The model was formulated in state-space form, where the state variables represent the position error and orientation error with respect to the road.
The next step was the synthesis of controllers. The first synthesized controller was an LQR (Linear Quadratic Regulator), with the weighting matrices Q and R tuned to suit the specific model requirements. After the LQR, the next controller was synthesized using the Place command in MATLAB, employing the poles generated by the LQR which yielded identical gains. Since simulations of the system produced responses with a steady-state error, a Feedforward controller was added that successfully eliminated the position error, although the steering angle error was not fully compensated. Lastly, a discrete Bass Gura regulator was implemented, based on the transformation of the continuous model into the controllable canonical form (CCF). This method allows the desired poles of the closed-loop system to be set manually, after which the gain is first calculated in the CCF and then transformed back into the original coordinate system.
Experimental results from both the simple bicycle model and the full simulation model demonstrated the correct functioning of all controllers, with their specific advantages and disadvantages clearly illustrated.

• Keywords: Sustav za zadržavanje vozila u traci; LKA; LQR; Place; Feedforward; Bass-Gura; MATLAB; Simulink
• Keywords (english): Lane Keeping Assist; LKA; LQR; Place; Feedforward; Bass-Gura; MATLAB; Simulink
• Language: croatian
• URN:NBN: urn:nbn:hr:168:819703
• Study programme: Title: Information and Communication Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije (magistar/magistra inženjer/inženjerka informacijske i komunikacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2025-03-12 11:14:20