Examenspresentation av Mikaela Andersson och Johan Spetz

Examiner: Henk Wymeersch

Abstract:
Pedal misapplication, a common cause of collisions, is more likely to occur at velocities below 25 km/h and accounts for around 1.3 out of every 1000 collisions. This thesis, conducted in collaboration with Sigma Embedded Engineering and Volvo Cars Corporation, aimed to prevent pedal misapplication in low speed parking scenarios and suggest implementations on how the driver could be alerted of these errors. The study analysed the Volvo XC90 car model and focused on ultrasonic sensors, the forward-looking camera, and fisheye cameras. It consisted of a literature study and simulations using ROS 2 and Gazebo. The study included an analysis of the causes, detection methods, and occurrence patterns of pedal misapplication accidents. It also analysed the car’s functionality and the basics behind the focused sensors. The simulations involved building a car model, setting up test cases, developing algorithms for sensor communication, and implementing a collision avoidance script. The proposed approach used a modified ROS 2 light ray sensor model with 12 ultrasonic sensors around a simplified car model. It enabled sensor fusion and obstacle detection. This thesis also investigated the use of forward-looking and fisheye cameras for object identification. Simulation results showed that ultrasonic sensors effectively prevented collisions at low speeds but resulted in a poor user experience. However, the integration of cameras enhanced the system by providing object identification and directional information, allowing drivers to override the algorithm when safe. This research could improve automotive safety by addressing pedal misapplication through the combination of ultrasonic sensors and cameras. It enhances collision prevention and suggests implementations on how to alert the driver. Further research and development in this area could lead to even more effective and user-friendly collision avoidance systems.

Welcome!

Mikaela, Johan and Henk