Naslov
Model predictive control of the vehicle lateral force for driver assistance

Autori
Benazić, Nikola

Vrsta, podvrsta i kategorija rada
Ocjenski radovi, diplomski rad, diplomski

Fakultet
Fakultet elektrotehnike i računarstva

Mjesto
Zagreb

Datum
06.07

Godina
2021

Stranica
66

Mentor
Lešić, Vinko

Ključne riječi
collision avoidance ; model predictive control ; equilibrium ; drift ; non-linear vehicle model ; tire Magic Formula

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Informacijske i komunikacijske znanosti

POVEZANOST RADA