Model predictive control of the vehicle lateral force for driver assistance (CROSBI ID 449888)
Ocjenski rad | diplomski rad
Podaci o odgovornosti
Benazić, Nikola
Lešić, Vinko
engleski
Model predictive control of the vehicle lateral force for driver assistance
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.
collision avoidance ; model predictive control ; equilibrium ; drift ; non-linear vehicle model ; tire Magic Formula
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Podaci o izdanju
66
06.07.2021.
obranjeno
Podaci o ustanovi koja je dodijelila akademski stupanj
Fakultet elektrotehnike i računarstva
Zagreb