Preface

The ambition to perform autonomous manoeuvres in emergency situations where driver is not attentive is finding its way to the vehicles on the roads. Path control is under consideration in the large scale European union project interactIVe and some of the early steps are already taken. Vehicle dynamics group is contributing to path and stability control of heavy vehicles in this EU project. A path stability control algorithm is designed and tested in the simulation environment. Now it is time to take steps towards doing the test on a real truck.

Objectives

The thesis work is desired to lead to design and implementation of a model based control system for a heavy truck whereas the perception horizon should be added to the existing model. MicroAutoBox is planned to be used to communicate with the in-vehicle CAN bus. The stretched goal for the project is to install the system on a real truck and perform some experiments.

Tasks:

• Literature survey.
• Acquiring the knowledge in using MicroAutoBox for model based control.
• Familiarizing with existing path control algorithm for the heavy truck.
• Acquiring the knowledge to work with in-vehicle CAN bus.
• Modelling the perception horizon that fuses data from vehicle and environmental sensors to determine vehicle position and road information.
• Sensitivity analysis on key parameters for existing controller.
• Design and implementation of a test bench for path control algorithm.
• Performing some tests using the developed test bench.
• Writing the thesis report and doing a final presentation.

The work will be done in cooperation with Vehicle dynamics group in Vehicle engineering and autonomous systems division of Applied mechanics department. Start date: January 2012

Contacts:

Morteza Hassanzadeh, morteza.hassanzadeh@chalmers.se
Mathias Lidberg, mathias.lidberg@chalmers.se

Links:

www.interactIVe-ip.eu
www.chalmers.se/am/EN/research/divisions/vehicle-engineering/research-groups/vehicle-dynamics