Modeling and Application of a Vehicle Driving and SteeringControl System for an Autonomous Traffic Jam Assistant System
Başlık çevirisi mevcut değil.
- Tez No: 721542
- Danışmanlar: PROF. DR. HABİL. ALOİS CHRİSTİAN KNOLL
- Tez Türü: Yüksek Lisans
- Konular: Otomotiv Mühendisliği, Automotive Engineering
- Anahtar Kelimeler: Belirtilmemiş.
- Yıl: 2017
- Dil: İngilizce
- Üniversite: Technische Universität München
- Enstitü: Yurtdışı Enstitü
- Ana Bilim Dalı: Belirtilmemiş.
- Bilim Dalı: Belirtilmemiş.
- Sayfa Sayısı: 85
Özet
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Özet (Çeviri)
This thesis describes the development phase of the Traffic Jam Assistant (TJA) at the System Engineering Department of Infineon Technologies AG with supervision from the Technical University of Munich. A 1:8 scaled model car was used throughout the procedure to develop the TJA. In the traffic tam situation if the driver does not want to control the car, he/she can set the TJA on. Then stop and go situations, following the vehicle ahead and the keeping inside the lane tasks are handled by the assistant. In order to enable the operation of the TJA, lateral and longitudinal controllers were developed for proper operation in a traffic jam situation. In addition the thesis gives insights to the longitudinal controller which can switch between modes of operation according to the distance and speed information about the object that is in front of the vehicle. The detailed explanations are given about how to distinguish the object in front as a moving or a stopping one and what action to take according to this information. Moreover, the lateral control to stay inside the lane and to take the curves is explained in detail. The inputs from a vision system which uses a camera is explained and an estimative model to control the vehicle is derived. Then the result of the controller was explained with comparison against a controller based on a different model. The results of the controllers were obtained on an example path created within the simulation environment. A simulation environment was developed with Matlab. The thesis also explains the development phase of the simulation environment and the development of the desired trace. This thesis also contains information about the hardware implementation. The hardware implementation consists of conversion of the developed functions for the TJA to C and the problems solved during the porting of the functions to the Infineon Aurix Tricore version TC2977 microcontroller board.
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