Maneuver regulation of a car vehicle via transverse dynamics control

Borghesi, Marco (2021) Maneuver regulation of a car vehicle via transverse dynamics control. [Laurea magistrale], Università di Bologna, Corso di Studio in Automation engineering / ingegneria dell’automazione [LM-DM270], Documento ad accesso riservato.
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Virtual prototyping is becoming more and more important and reliable in the automotive field as new tools and software are being developed. This has created the need of virtual drivers and controllers to test virtual vehicles. In this thesis, we propose a maneuver regulation controller able to steer a vehicle to a desired trajectory. In order to design the controller and subsequently validate it, we study at first two vehicle models, a single track and a double track. Transverse coordinates are then introduced to perform the maneuver regulation in a geometric domain. The equilibrium states and the behaviour of the proposed models is then explored with an iterative algorithm. This knowledge is used by the controller to perform the dynamic inversion of the system. The controller is then developed and tested in Python, and its performances are commented.

Tipologia del documento
Tesi di laurea (Laurea magistrale)
Autore della tesi
Borghesi, Marco
Relatore della tesi
Correlatore della tesi
Corso di studio
Ordinamento Cds
Parole chiave
Optimal control,Autonomous vehicle,Race car,Vehicle dynamics,Transverse linearization,Maneuver regulation
Data di discussione della Tesi
10 Marzo 2021

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