Examenspresentation av Basar Özkan, MPSYS

Supervisors: Esteban Gelso, AB Volvo, Maliheh Sadeghi Kati, AB Volvo, Mats Jonasson, M2
Examiner: Balázs Adam Kulcsár

Abstract:
Heavy road vehicles currently contain different dynamics control systems such as advanced driver assistance control systems (ADAS) and simple rule based control systems. As the transition towards full electrification of heavy vehicles and fully autonomous vehicles continues, newer control systems are being added to current ones. There is a need to be able to switch between different vehicle control systems. For example, one must be able to switch to a backup system when the primary control system fails. The process of making these types of switches safe and effective is the topic of this thesis.

Research done in the area of switching systems usually focuses on having the outputs of the controller coming online to be close to the outputs of the controller going offline so that the transition is smooth. Trying to match the controller outputs does not work for heavy vehicles because of the number of different actuators and the differences in the response rates of these actuators. The contribution of this thesis to develop and analyze methods of switching between controllers that may have different goals and are acting on differing actuators.

Switching methods of different complexities are developed and analyzed. Preparing the offline controller by connecting it to a model of the real vehicle is shown to decrease the dynamics that occur when the new controller is connected. Using linear interpolation and sigmoid functions to switch from the outputs of the initial controller to the final controller are tested using a realistic simulation environment developed by Volvo Trucks. Filtering these interpolation functions depending on the actuator response rates shows significant decrease in the disturbance to the vehicle during the switching process.

Welcome!

Basar and Balázs