Modelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču

master's thesis

• Title (english): Model predictive control of the vehicle lateral force for driver assistance
• Author: Nikola Benazić
• Mentor: Vinko Lešić (mentor)
• Committee member: Vinko Lešić (predsjednik povjerenstva)
• Committee member: Mato Baotić (član povjerenstva)
• Committee member: Branimir Novoselnik (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2021-07-06, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

U ovome se radu razmatra problem razvoja sustava za pomoć vozaču koji bi trebao omogućiti sigurno zaobilaženje prepreke koja se iznenada pojavi na putu. Nakon uvoda o sigurnosnim sustavima u automobilskoj industriji i osnovama sustava upravljanja, nelinearni modeli vozila i gume su definirani. Nadalje, ravnotežne točke bočnog proklizavanja su određene. Zatim je predstavljen algoritam modelskog prediktivnog upravljanja kao alat koji omogućuje praćenje ravnotežne točke. Nakon što je regulator implementiran, testiran je pokušaj skretanja vozila kako bi se izbjegao sudar pri normalnom skretanju i bočnom proklizavanju. Naposljetku, rezultati su uspoređeni i analizirani.

Abstract (english)

This thesis is concerned with the problem of developing a driver assistance system that should help the drivers to safely avoid collision with an unexpected object on the road. After giving the introduction about the safety systems in automotive industry and control systems preliminaries, vehicle and tire non-linear models were defined. Next, equilibrium points for steady state drifting are obtained. After that, model predictive control algorithm was presented as a tool which enables tracking the drift equilibrium. After the controller was implemented, it was tested by trying to steer the vehicle in order to avoid collision in both the normal cornering and drifting scenarios. Finally, the results are compared and analysed.

• Keywords: izbjegavanje sudara; modelsko prediktivno upravljanje; ravnotežna točka; bočno proklizavanje; nelinearni model vozila; čarobna forumula za gume
• Keywords (english): collision avoidance; model predictive control; equilibrium; drift; non-linear vehicle model; tire Magic Formula
• Language: english
• URN:NBN: urn:nbn:hr:168:358154
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-13 11:47:11