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master's thesis
Modelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. urn:nbn:hr:168:358154
Benazić, Nikola
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

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Benazić, N. (2021). Modelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:358154

Benazić, Nikola. "Modelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:358154

Benazić, Nikola. "Modelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2021. https://urn.nsk.hr/urn:nbn:hr:168:358154

Benazić, N. (2021). 'Modelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 18 June 2024, https://urn.nsk.hr/urn:nbn:hr:168:358154

Benazić N. Modelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2021 [cited 2024 June 18] Available at: https://urn.nsk.hr/urn:nbn:hr:168:358154

N. Benazić, "Modelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2021. Available at: https://urn.nsk.hr/urn:nbn:hr:168:358154

Metadata
TitleModelsko prediktivno upravljanje bočnom silom vozila za pomoć vozaču
Title (english)Model predictive control of the vehicle lateral force for driver assistance
AuthorNikola Benazić
MentorVinko Lešić (mentor)
Committee memberVinko Lešić (predsjednik povjerenstva)
Committee memberMato Baotić (član povjerenstva)
Committee memberBranimir Novoselnik (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2021-07-06, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
U ovome se radu razmatra problem razvoja sustava za pomoć vozaču koji bi trebao omogućiti sigurno zaobilaženje prepreke koja se iznenada pojavi na putu. Nakon uvoda o sigurnosnim sustavima u automobilskoj industriji i osnovama sustava upravljanja, nelinearni modeli vozila i gume su definirani. Nadalje, ravnotežne točke bočnog proklizavanja su određene. Zatim je predstavljen algoritam modelskog prediktivnog upravljanja kao alat koji omogućuje praćenje ravnotežne točke. Nakon što je regulator implementiran, testiran je pokušaj skretanja vozila kako bi se izbjegao sudar pri normalnom skretanju i bočnom proklizavanju. Naposljetku, rezultati su uspoređeni i analizirani.
Abstract (english)
This thesis is concerned with the problem of developing a driver assistance system that should help the drivers to safely avoid collision with an unexpected object on the road. After giving the introduction about the safety systems in automotive industry and control systems preliminaries, vehicle and tire non-linear models were defined. Next, equilibrium points for steady state drifting are obtained. After that, model predictive control algorithm was presented as a tool which enables tracking the drift equilibrium. After the controller was implemented, it was tested by trying to steer the vehicle in order to avoid collision in both the normal cornering and drifting scenarios. Finally, the results are compared and analysed.
Keywords
Keywords (english)
Languageenglish
URN:NBNurn:nbn:hr:168:358154
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 11:47:11