MSc colloquium Mart Baars

24 november 2017 14:00 t/m 14:30 - Locatie: Collegezaal A, 3mE - Door: DCSC

Modelling and control of an autonomous car in and beyond stable limit handling

The availability of driver assistance systems and autonomous functions has increased rapidly for production vehicles in recent years. These systems are being developed for active safety systems and aim at assisting the driver in all driving situations to reduce the impact of human error to a minimum. Taking over full control of the vehicle, i.e. autonomous driving, however, could reduce the impact of human error even more. Even though autonomous driving systems are intended to avoid critical driving situations, they should be able to handle all driving scenarios. In current vehicles, ESC can brake each wheel individually to prevent the vehicle from entering behaviour where an average driver is incapable of maintaining control. A skilled driver, though, would not necessarily use this technique to control the vehicle in the same situation. By controlling the vehicle beyond the stable limits of handling, e.g. drifting, the vehicle's agility can be increased, which can result in tighter cornering in low and varying friction conditions. 

The objective of this research is to develop a controller that can follow a predefined path and deliberately uses drifting to negotiate curves that are too tight for normal driving. The controller will be developed for a Radio Controlled (RC) scaled vehicle, for which a high fidelity simulation model needs to be created first.

Supervisor:
Dr. M. Alirezaei