Date of Award

2016

Degree Type

Thesis

Degree Name

M.A.Sc.

Department

Mechanical, Automotive, and Materials Engineering

First Advisor

Johrendt, Jennifer

Keywords

Automatic Control, Autonomous Drive, Lane Recognition Camera, Loop Transfer Recovery, Observer, Virtual Sensor

Rights

CC BY-NC-ND 4.0

Abstract

Advanced Driver Assistance Systems (ADAS) aim at supporting the driver's task in order to improve vehicular safety. One of the most promising and most studied technologies in this direction is Autonomous Driving (AD). While control systems for AD based on lane markings have been proposed in the literature, few have addressed the problem of coping with the absence of lane references on the ground. Moreover, many of these solutions resort to complex software and/or hardware. In this project a relatively straightforward way of restoring suitable knowledge of the position of the vehicle when the output of the Lane Recognition Camera (LRC) is not available or degraded is presented. This is done exploiting a relatively new approach to variable recovering which results in a so-called "virtual sensor". In order to show the potential of this solution, then, a control system based on a LRC is first developed in the Simulink environment. Subsequently, the virtual sensor for precise vehicle position reconstruction is implemented and evaluated against the first solution. Simulations considering realistic driving conditions showed comparable levels of performance between the two systems, demonstrating the effectiveness of this new approach.

Available for download on Thursday, October 26, 2017

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