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2019

Automotive Engineering

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Articles 1 - 30 of 38

Full-Text Articles in Engineering

Influence Of Flow Rate, Nozzle Speed, Pitch And The Number Of Passes On The Thickness Of S1805 Photoresist In Suss Microtec As8 Spray Coater, Rohan Sanghvi, Gyuseok Kim Oct 2019

Influence Of Flow Rate, Nozzle Speed, Pitch And The Number Of Passes On The Thickness Of S1805 Photoresist In Suss Microtec As8 Spray Coater, Rohan Sanghvi, Gyuseok Kim

Tool Data

S1805 positive photoresist has been deposited on single crystalline Si wafers using a Suss MicroTec Alta Spray. The influence of flow rate, nozzle speed, pitch and number of passes on the thickness of the photoresist was studied. Results show that the thickness of S1805 is linearly proportional to the flow rate and number of passes, and inversely proportional to the nozzle speed and pitch.


Automated Reverse Engineering Of Automotive Can Bus Controls, Charles Barron Kirby, Bryson Payne Oct 2019

Automated Reverse Engineering Of Automotive Can Bus Controls, Charles Barron Kirby, Bryson Payne

KSU Proceedings on Cybersecurity Education, Research and Practice

This research provides a means of automating the process to reverse engineer an automobile’s CAN Bus to quickly recover CAN IDs and message values to control the various systems in a modern automobile. This approach involved the development of a Python script that uses several open-source tools to interact with the CAN Bus, and it takes advantage of several vulnerabilities associated with the CAN protocol. These vulnerabilities allow the script to conduct replay attacks against the CAN Bus and affect various systems in an automobile without the operator’s knowledge or interaction.

These replay attacks can be accomplished by ...


Guest Editorial Special Issue On Toward Securing Internet Of Connected Vehicles (Iov) From Virtual Vehicle Hijacking, Yue Cao, Houbing Song, Omprakash Kaiwartya, Sinem Coleri Ergen, Jaime Lloret, Naveed Ahmad Sep 2019

Guest Editorial Special Issue On Toward Securing Internet Of Connected Vehicles (Iov) From Virtual Vehicle Hijacking, Yue Cao, Houbing Song, Omprakash Kaiwartya, Sinem Coleri Ergen, Jaime Lloret, Naveed Ahmad

Houbing Song

Today’s vehicles are no longer stand-alone transportation means, due to the advancements on vehicle-tovehicle (V2V) and vehicle-to-infrastructure (V2I) communications enabled to access the Internet via recent technologies in mobile communications, including WiFi, Bluetooth, 4G, and even 5G networks. The Internet of vehicles was aimed toward sustainable developments in transportation by enhancing safety and efficiency. The sensor-enabled intelligent automation of vehicles’ mechanical operations enhances safety in on-road traveling, and cooperative traffic information sharing in vehicular networks improves traveling efficiency.


An Under-Hand Steering Wheel Grasp Produces Significant Risk To The Upper Extremity During Airbag Deployment, Patrick J. Atkinson, Prem Hariharan, Shresta Mari-Gowda, Paul Telehowski, Sidney Martin, Jack Van Hoof, Cynthia Bir, Theresa Atkinson Sep 2019

An Under-Hand Steering Wheel Grasp Produces Significant Risk To The Upper Extremity During Airbag Deployment, Patrick J. Atkinson, Prem Hariharan, Shresta Mari-Gowda, Paul Telehowski, Sidney Martin, Jack Van Hoof, Cynthia Bir, Theresa Atkinson

Theresa Atkinson

Recent laboratory investigations suggest that a deploying airbag may fracture the forearm. These studies positioned the arm in an overhand grasp placing the forearm over the airbag module. However, there is little published data on how drivers grip the steering wheel and the general proximity of the upper extremity to the airbag module. The objective of the current study was to identify 'real world' upper extremity positions and to correlate these with accident and experimental data. A survey of the National Automotive Sampling System (NASS) for the years 1995-99 revealed an increase in the number of forearm fractures due to ...


Injury Severity Data For Front And Second Row Passengers In Frontal Crashes, Theresa Atkinson, Leszek Gawarecki, Massoud Tavakoli Sep 2019

Injury Severity Data For Front And Second Row Passengers In Frontal Crashes, Theresa Atkinson, Leszek Gawarecki, Massoud Tavakoli

Theresa Atkinson

The data contained here were obtained from the National Highway Transportation Safety Administration׳s National Automotive Sampling System – Crashworthiness Data System (NASS-CDS) for the years 2008–2014. This publically available data set monitors motor vehicle crashes in the United States, using a stratified random sample frame, resulting in information on approximately 5000 crashes each year that can be utilized to create national estimates for crashes. The NASS-CDS data sets document vehicle, crash, and occupant factors. These data can be utilized to examine public health, law enforcement, roadway planning, and vehicle design issues. The data provided in this brief are a ...


Injury Severity Data For Front And Second Row Passengers In Frontal Crashes, Theresa Atkinson, Leszek Gawarecki, Massoud S. Tavakoli Sep 2019

Injury Severity Data For Front And Second Row Passengers In Frontal Crashes, Theresa Atkinson, Leszek Gawarecki, Massoud S. Tavakoli

Leszek Gawarecki

The data contained here were obtained from the National Highway Transportation Safety Administration׳s National Automotive Sampling System – Crashworthiness Data System (NASS-CDS) for the years 2008–2014. This publically available data set monitors motor vehicle crashes in the United States, using a stratified random sample frame, resulting in information on approximately 5000 crashes each year that can be utilized to create national estimates for crashes. The NASS-CDS data sets document vehicle, crash, and occupant factors. These data can be utilized to examine public health, law enforcement, roadway planning, and vehicle design issues. The data provided in this brief are a ...


Crash Safety In The Introductory Physics Lab, Daniel Ludwigsen, Janet Brelin-Fornari, Joseph Neal Sep 2019

Crash Safety In The Introductory Physics Lab, Daniel Ludwigsen, Janet Brelin-Fornari, Joseph Neal

Daniel Ludwigsen

Crash Safety in the Introductory Physics Lab Abstract In the field of vehicle occupant protection and crash safety, the Deceleration Sled offers researchers a controlled, repeatable, and relatively cost-effective means to test interior parts such as safety restraint systems. The sled can accelerate a 2000 lb payload to achieve a speed of 40 mph before a hydraulically controlled deceleration models the deformation of the vehicle structure during a crash. Understanding the dynamics of the sled and interpreting test results incorporates many of the core concepts of a first course in introductory physics. This application of physics principles is the inspiration ...


Crash Safety In The Introductory Physics Lab, Daniel Ludwigsen, Janet Brelin-Fornari, Joseph Neal Sep 2019

Crash Safety In The Introductory Physics Lab, Daniel Ludwigsen, Janet Brelin-Fornari, Joseph Neal

Daniel Ludwigsen

Crash Safety in the Introductory Physics Lab Abstract In the field of vehicle occupant protection and crash safety, the Deceleration Sled offers researchers a controlled, repeatable, and relatively cost-effective means to test interior parts such as safety restraint systems. The sled can accelerate a 2000 lb payload to achieve a speed of 40 mph before a hydraulically controlled deceleration models the deformation of the vehicle structure during a crash. Understanding the dynamics of the sled and interpreting test results incorporates many of the core concepts of a first course in introductory physics. This application of physics principles is the inspiration ...


Evaluating Impact Attenuator Performance For A Formula Sae Vehicle, Jason Fahland, Craig Hoff, Janet Brelin-Fornari Sep 2019

Evaluating Impact Attenuator Performance For A Formula Sae Vehicle, Jason Fahland, Craig Hoff, Janet Brelin-Fornari

Craig Hoff

Formula SAE® is one of several student design competitions organized by SAE International. In the Formula SAE events undergraduate and graduate students are required to conceive, design, fabricate and compete with a small, formula-style, race car. Formula SAE safety rules dictate a 7 m/s (or approximately 15.65 mph) frontal crash test for nose mounted impact attenuators. These rules are outlined in section B3.21 of the Formula SAE rule book. Development and testing methods of these energy absorbing devices have varied widely among teams. This paper uses real world crash sled results to research methods for predicting the ...


Guest Editorial Special Issue On Toward Securing Internet Of Connected Vehicles (Iov) From Virtual Vehicle Hijacking, Yue Cao, Houbing Song, Omprakash Kaiwartya, Sinem Coleri Ergen, Jaime Lloret, Naveed Ahmad Aug 2019

Guest Editorial Special Issue On Toward Securing Internet Of Connected Vehicles (Iov) From Virtual Vehicle Hijacking, Yue Cao, Houbing Song, Omprakash Kaiwartya, Sinem Coleri Ergen, Jaime Lloret, Naveed Ahmad

Publications

Today’s vehicles are no longer stand-alone transportation means, due to the advancements on vehicle-tovehicle (V2V) and vehicle-to-infrastructure (V2I) communications enabled to access the Internet via recent technologies in mobile communications, including WiFi, Bluetooth, 4G, and even 5G networks. The Internet of vehicles was aimed toward sustainable developments in transportation by enhancing safety and efficiency. The sensor-enabled intelligent automation of vehicles’ mechanical operations enhances safety in on-road traveling, and cooperative traffic information sharing in vehicular networks improves traveling efficiency.


Analysis Of Disengagements In Semi-Autonomous Vehicles: Drivers’ Takeover Performance And Operational Implications, Francesca M. Favaro, Sky Eurich, Syeda Rizvi, Shivangi Agarwal, Sumaid Mahmood, Nazanin Nader Jul 2019

Analysis Of Disengagements In Semi-Autonomous Vehicles: Drivers’ Takeover Performance And Operational Implications, Francesca M. Favaro, Sky Eurich, Syeda Rizvi, Shivangi Agarwal, Sumaid Mahmood, Nazanin Nader

Francesca M. Favarò

This report analyzes the reactions of human drivers placed in simulated Autonomous Technology disengagement scenarios. The study was executed in a human-in-the-loop setting, within a high-fidelity integrated car simulator capable of handling both manual and autonomous driving. A population of 40 individuals was tested, with metrics for control takeover quantification given by: i) response times (considering inputs of steering, throttle, and braking); ii) vehicle drift from the lane centerline after takeover as well as overall (integral) drift over an S-turn curve compared to a baseline obtained in manual driving; and iii) accuracy metrics to quantify human factors associated with the ...


Electronic Cvt - Controls, Alec William Hardy, Jessalyn Leora Ann Bernick, Nicholas Esteban Capdevila, Tristan Charles Perry Jul 2019

Electronic Cvt - Controls, Alec William Hardy, Jessalyn Leora Ann Bernick, Nicholas Esteban Capdevila, Tristan Charles Perry

Mechanical Engineering

The following document outlines the design process, manufacturing, and testing of the control system for an electronically controlled continuously variable transmission (ECVT). This control system was integrated into the custom designed and manufactured mechanical transmission system created in parallel by another senior project group. The transmission was designed for use in the Cal Poly Baja SAE vehicle. Through researching customer needs, competition requirements, previous and alternate CVT designs, and vehicle characteristics, we were able to determine the requirements and specifications for our unique system. Input, output, speed, and durability requirements guided our hardware selection. The primary components which comprised our ...


Implementation Of A Scale Semi-Autonomous Platoon To Test Control Theory Attacks, Erik Miller Jul 2019

Implementation Of A Scale Semi-Autonomous Platoon To Test Control Theory Attacks, Erik Miller

Master's Theses and Project Reports

With all the advancements in autonomous and connected cars, there is a developing body of research around the security and robustness of driving automation systems. Attacks and mitigations for said attacks have been explored, but almost always solely in software simulations.

For this thesis, I led a team to build the foundation for an open source platoon of scale semi-autonomous vehicles. This work will enable future research into implementing theoretical attacks and mitigations. Our 1/10 scale car leverages an Nvidia Jetson, embedded microcontroller, and sensors. The Jetson manages the computer vision, networking, control logic, and overall system control; the ...


A Design Of Inductive Coupling Wireless Power Transfer System For Electric Vehicle Applications, Sarika Reddy Daida Jul 2019

A Design Of Inductive Coupling Wireless Power Transfer System For Electric Vehicle Applications, Sarika Reddy Daida

Electrical & Computer Engineering Theses & Disssertations

This research focuses on the study of using an inductive-coupled Wireless Power Transfer (WPT) system for electric vehicle charging applications in Medium Voltage DC (MVDC) power networks. Implementing WPT in Electric Vehicles (EVs) can provide a convenient alternative charging option, versus static charging in a station that would take hours. Also, it can prevent the potential of electrocution hazards that might occur due to the usage of physical medium like wires in EV charging. Even though inductive coupling has been applied in some applications of WPT, it is still not efficient enough to transfer high power at the kilowatts level ...


Car Hacking: Accessing And Exploiting The Can Bus Protocol, Bryson R. Payne Jun 2019

Car Hacking: Accessing And Exploiting The Can Bus Protocol, Bryson R. Payne

Journal of Cybersecurity Education, Research and Practice

With the rapid adoption of internet-connected and driver-assist technologies, and the spread of semi-autonomous to self-driving cars on roads worldwide, cybersecurity for smart cars is a timely concern and one worth exploring both in the classroom and in the real world. Highly publicized hacks against production cars, and a relatively small number of crashes involving autonomous vehicles, have brought the issue of securing smart cars to the forefront as a matter of public and individual safety, and the cybersecurity of these “data centers on wheels” is of greater concern than ever.

However, up to this point there has been a ...


Analysis Of Disengagements In Semi-Autonomous Vehicles: Drivers’ Takeover Performance And Operational Implications, Francesca M. Favaro, Sky Eurich, Syeda Rizvi, Shivangi Agarwal, Sumaid Mahmood, Nazanin Nader Jun 2019

Analysis Of Disengagements In Semi-Autonomous Vehicles: Drivers’ Takeover Performance And Operational Implications, Francesca M. Favaro, Sky Eurich, Syeda Rizvi, Shivangi Agarwal, Sumaid Mahmood, Nazanin Nader

Mineta Transportation Institute Publications

This report analyzes the reactions of human drivers placed in simulated Autonomous Technology disengagement scenarios. The study was executed in a human-in-the-loop setting, within a high-fidelity integrated car simulator capable of handling both manual and autonomous driving. A population of 40 individuals was tested, with metrics for control takeover quantification given by: i) response times (considering inputs of steering, throttle, and braking); ii) vehicle drift from the lane centerline after takeover as well as overall (integral) drift over an S-turn curve compared to a baseline obtained in manual driving; and iii) accuracy metrics to quantify human factors associated with the ...


Autonomous Vehicles Operating Collaboratively To Avoid Debris And Obstructions, Toan T. Le, Cole W. Oppenheim, James H. Gildart, Kyle M. Bybee May 2019

Autonomous Vehicles Operating Collaboratively To Avoid Debris And Obstructions, Toan T. Le, Cole W. Oppenheim, James H. Gildart, Kyle M. Bybee

Mechanical Engineering

The purpose of this project is to demonstrate the safety and increased fuel efficiency of an automated collision avoidance system in collaborative vehicle platooning. This project was cosponsored by Daimler Trucks North America headquartered in Portland, Oregon, as well as Dr. Birdsong, and Dr. DeBruhl of Cal Poly. The mechanical engineering team consists of Cole Oppenheim, James Gildart, Toan Le, and Kyle Bybee who worked in coordination with a team of computer engineers. Vehicle platooning is a driving technique to increase the fuel efficiency of a group of vehicles by following a lead vehicle closely to reduce the drag experienced ...


The Design Of An Innovative Automotive Suspension For Formula Sae Racing Applications, Jared Darius Apr 2019

The Design Of An Innovative Automotive Suspension For Formula Sae Racing Applications, Jared Darius

Senior Honors Theses

This thesis details an analytical approach to an innovative suspension system design for implementation to the Formula SAE collegiate competition. It focuses specifically on design relating to geometry, mathematical modeling, energy element relationships, and computer analysis and simulation to visualize system behavior. The bond graph approach is utilized for a quarter car model to facilitate understanding of the analytical process, then applied to a comparative analysis between two transverse half car models. The second half car model contains an additional transverse linkage with a third damper, and is compared against the baseline of the first half car model without the ...


Autonomous Watercraft Simulation And Programming, Nicholas J. Savino Apr 2019

Autonomous Watercraft Simulation And Programming, Nicholas J. Savino

Student Scholar Showcase

Automation of various modes of transportation is thought to make travel more safe and efficient. Over the past several decades, advances to semi-autonomous and autonomous vehicles have led to advanced autopilot systems on planes and boats, and an increasing popularity of self-driving cars. We predicted the motion of an autonomous vehicle using simulations in Python. The simulation models the motion of a small scale watercraft, which can then be built and programmed using an Arduino Microcontroller. We examined different control methods for a simulated rescue craft to reach a target. We also examined the effects of different factors, such as ...


Low Cost Vehicular Autonomy Using Radar And Gps, Nathan Jessurun, Ryan Gordon, Danielle Fredette Apr 2019

Low Cost Vehicular Autonomy Using Radar And Gps, Nathan Jessurun, Ryan Gordon, Danielle Fredette

The Research and Scholarship Symposium

This presentation describes a subset of the systems devised for this year's autonomous golf cart senior design project. Our goal is to explore the possibilities of low cost autonomy using only radar and GPS for environmental sensing and navigation. Although autonomous and semi-autonomous ground vehicles are a relatively new reality, prototypes have been a subject of engineering research for decades, often utilizing an array of sensors and sensor fusion techniques. State of the art autonomous ground vehicle prototypes typically use a combination of LIDAR and other distance sensors (such as radar or sonar) as well as cameras and GPS ...


A Fea/Cfd Study Of Heat Transfer To Semi-Trailer Disc Brake Wheel-End Components During A Braking Event, Justin P. Fisher Apr 2019

A Fea/Cfd Study Of Heat Transfer To Semi-Trailer Disc Brake Wheel-End Components During A Braking Event, Justin P. Fisher

Masters Theses

Foundation air disc brakes bring Class 8 semi-trailers to a stop by converting kinetic energy into thermal energy. Recently, side skirts have been added to the underside of semi-trailers to improve fuel economy. The reduction in airflow under the trailer they create has potential to increase brake temperatures by reducing convection heat transfer. This will require an increase in conduction and radiation heat transfer to the surrounding wheel-end parts. Additional heat transfer to the surrounding parts could increase the temperatures in the hub and bearing to damaging levels.

CFD analyses were developed to model the airflow under the semi-trailer with ...


Torsional Stiffness Of A Race Car, Reiley A. Schraeger, Cameron Kao, Raymond Deng, Omar Roman Mar 2019

Torsional Stiffness Of A Race Car, Reiley A. Schraeger, Cameron Kao, Raymond Deng, Omar Roman

Mechanical Engineering

Torsional stiffness plays a major role in any road vehicle. To understand torsional stiffness of a vehicle and make future iterations and improvements, a proper torsional stiffness jig is required to prove accurate and useful data. This report encompasses the new and improved testing jig and potential improvement ideas for more accurate results. With real data result relating to FEA calculations, designers can be confident in the FEA changes to torsional stiffness is accurate and will yield the probably results they desired. This report shows the methodology, manufacturing process and testing procedure to use on any Baja or SAE vehicle ...


Myopic Versus Farsighted Behaviors In A Low-Carbon Supply Chain With Reference Emission Effects, Jun Wang, Xianxue Cheng, Xinyu Wang, Hongtao Yang, Shuhua Zhang Feb 2019

Myopic Versus Farsighted Behaviors In A Low-Carbon Supply Chain With Reference Emission Effects, Jun Wang, Xianxue Cheng, Xinyu Wang, Hongtao Yang, Shuhua Zhang

Math Faculty Publications

The increased carbon emissions cause relatively climate deterioration and attract more attention of governments, consumers, and enterprises to the low-carbon manufacturing. This paper considers a dynamic supply chain, which is composed of a manufacturer and a retailer, in the presence of the cap-and-trade regulation and the consumers’ reference emission effects. To investigate the manufacturer’s behavior choice and its impacts on the emission reduction and pricing strategies together with the profits of both the channel members, we develop a Stackelberg differential game model in which the manufacturer acts in both myopic and farsighted manners. By comparing the equilibrium strategies, it ...


Edge Heterogeneous Hardware Evaluation Based On Real Connected And Autonomous Vehicles (Cavs) Workloads, Mustafa Ahmad Jan 2019

Edge Heterogeneous Hardware Evaluation Based On Real Connected And Autonomous Vehicles (Cavs) Workloads, Mustafa Ahmad

ROEU 2018-19

There has recently been a wide expansion of hardware to assist in autonomous driving tasks. On this project, we focus on using some state-of-the-art deep learning workloads in connected autonomous vehicle (CAV) scenarios,such as object detection and object tracking to evaluate the heterogeneous hardware.


Development Of An Electromechanical Valvetrain, Ryan Clarke, Emett Santucci, Isaac Yako, Joseph Mckeirnan Jan 2019

Development Of An Electromechanical Valvetrain, Ryan Clarke, Emett Santucci, Isaac Yako, Joseph Mckeirnan

Engineering E-Portfolios and Projects

The Electromechanical Valvetrain Conversion Team designed and implemented a new system to improve internal combustion engine performance and efficiency. This system replaces the traditional camshaft-based valvetrain with a computer-controlled pneumatic actuation system. This new system has the potential to reduce emissions without sacrificing the benefits which have made combustion engines a popular power source.


Reduction Of Nox Emissions In A Single Cylinder Diesel Engine Using Sncr With In-Cylinder Injection Of Aqueous Urea, Anthony Timpanaro Jan 2019

Reduction Of Nox Emissions In A Single Cylinder Diesel Engine Using Sncr With In-Cylinder Injection Of Aqueous Urea, Anthony Timpanaro

UNF Graduate Theses and Dissertations

The subject of this study is the effect of in-cylinder selective non-catalytic reduction (SNCR) of NOx emissions in diesel exhaust gas by means of direct injection of aqueous urea ((NH2)2CO) into the combustion chamber. A single cylinder diesel test engine was modified to accept an electronically controlled secondary common rail injection system to deliver the aqueous urea directly into the cylinder during engine operation.

Direct in-cylinder injection was chosen in order to ensure precise delivery of the reducing agent without the risk of any premature reactions taking place. Unlike direct in-cylinder injection of neat water, aqueous ...


Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control, Hadi Kazemi Jan 2019

Intelligent Transportation Systems, Hybrid Electric Vehicles, Powertrain Control, Cooperative Adaptive Cruise Control, Model Predictive Control, Hadi Kazemi

Graduate Theses, Dissertations, and Problem Reports

Information obtainable from Intelligent Transportation Systems (ITS) provides the possibility of improving the safety and efficiency of vehicles at different levels. In particular, such information has the potential to be utilized for prediction of driving conditions and traffic flow, which allows us to improve the performance of the control systems in different vehicular applications, such as Hybrid Electric Vehicles (HEVs) powertrain control and Cooperative Adaptive Cruise Control (CACC). In the first part of this work, we study the design of an MPC controller for a Cooperative Adaptive Cruise Control (CACC) system, which is an automated application that provides the drivers ...


Comparison Of Drag Area Estimation Using Natural Coast Down And Constant Speed Test Methods, Cem Baki Mr Jan 2019

Comparison Of Drag Area Estimation Using Natural Coast Down And Constant Speed Test Methods, Cem Baki Mr

Graduate Theses, Dissertations, and Problem Reports

Currently in US, more than 26 percent of the total GHG emissions comes from transportation and mostly from heavy duty vehicles. Similarly, the European Council stated that 25 percent of the emissions comes from heavy duty transportation and they expect it to be further increased in the future. However, with the new coming regulations US EPA and European Council aiming to reduce the emissions by 80 percent in US and 60 percent in EU. In order to keep track and control the emissions, both authorities published new regulations and testing methods for certifying the new vehicles.

Aerodynamic testing is one ...


Experimental And Numerical Simulation Of Split Hopkinson Pressure Bar Test On Borosilicate Glass, Mayank K. Bagaria Jan 2019

Experimental And Numerical Simulation Of Split Hopkinson Pressure Bar Test On Borosilicate Glass, Mayank K. Bagaria

Dissertations, Master's Theses and Master's Reports

This study is an extension to the design of ceramic materials component exposed to bullet impact. Owing to the brittle nature of ceramics upon bullet impact, shattered pieces behave as pellets flying with different velocities and directions, damaging surrounding components. Testing to study the behavior of ceramics under ballistic impact can be cumbersome and expensive. Modeling the set-up through Finite Element Analysis (FEA) makes it economical and easy to optimize. However, appropriately incorporating the material in modeling makes laboratory testing essential. Previous efforts have concentrated on simulating crack pattern developed during 0.22 caliber pellet impact on Borosilicate glass. A ...


Effect Of Sensor Errors On Autonomous Steering Control And Application Of Sensor Fusion For Robust Navigation, Shuvodeep Bhattacharjya Jan 2019

Effect Of Sensor Errors On Autonomous Steering Control And Application Of Sensor Fusion For Robust Navigation, Shuvodeep Bhattacharjya

Dissertations, Master's Theses and Master's Reports

Autonomous steering control is one the most important features in autonomous vehicle navigation. The nature and tuning of the controller decides how well the vehicle follows a defined trajectory. A poorly tuned controller can cause the vehicle to oversteer or understeer at turns leading to deviation from a defined path. However, controller performance also depends on the state–feedback system. If the states used for controller input are noisy or has bias / systematic error, the navigation performance of the vehicle is affected irrespective of the control law and controller tuning. In this report, autonomous steering controller analysis is done for ...