diplomsko delo
Nejc Deželak (Author), Rajko Svečko (Mentor), Andrej Sarjaš (Co-mentor)

Abstract

V diplomskem delu analiziramo in prenovimo regulacijski sistem avtonomnega vozila. Delo se nanaša na računalniško voden testni avtomobil VW Passat, ki je osrednji produkt projekta Stadtpilot na Tehnični Univerzi v Braunschweigu. Pri njem želijo prenoviti programsko arhitekturo avtonomnega sistema zaradi česar se med drugim spremeni vmesnik do regulatorja. Cilj regulatorja po prenovi je čim natančneje slediti trajektoriji vsebujočo točke v dvodimenzionalnem prostoru, ki določajo željeno pozicijo, hitrost, pospešek in usmeritev. Najprej se lotimo izgradnje matematičnega modela vozila nato pa se posebej osredotočimo na vzdolžno in prečno regulacijo. Uspešnost prenove in izboljšave regulacijskega sistema dokažemo z rezultati simulacij in testiranj.

Keywords

regulacije;avtonomna vožnja;vzdolžni regulatorji;prečni regulatorji;

Data

Language: Slovenian
Year of publishing:
Typology: 2.11 - Undergraduate Thesis
Organization: UM FERI - Faculty of Electrical Engineering and Computer Science
Publisher: N. Deželak
UDC: 681.51:004.896(043.2)
COBISS: 19277590 Link will open in a new window
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Other data

Secondary language: English
Secondary title: CONTROL SYSTEM UPDATE AND ANALYSIS OF AN AUTONOMOUS VEHICLE IN THE PROJECT STADTPILOT
Secondary abstract: In these bachelor thesis we analyse, update and improve the control system of an autonomous vehicle. Our work is based on a computer driven VW Passat that is the main subject of research in the project Stadtpilot at the Technical University of Brunswick. In attempt to reorganize the software architecture of the autonomous system the interface to the control system has been changed. The main task of the controller is now to make the car precisely follow a given trajectory that contains information about the wanted position, velocity, acceleration and yaw-angle. Firstly we build a mathematical model of the test vehicle, then we separately study and build the longitudinal and lateral controllers. We prove our successful work with results from simulation and test drives.
Secondary keywords: closed-loop systems;autonomous driving;stadtpilot;longitudinal control;lateral control;
URN: URN:SI:UM:
Type (COBISS): Bachelor thesis/paper
Thesis comment: Univ. v Mariboru, Fak. za elektrotehniko, računalništvo in informatiko, Elektrotehnika
Pages: [VIII], 76 f.
ID: 9009774