Procjena brzine skretanja i kuta bočnog klizanja vozila primjenom Kalmanova filtra

undergraduate thesis

• Title (english): Estimation of yaw rate and sideslip angle of the vehicle by using Kalman filter
• Author: Mate Bašić
• Mentor: Mario Hrgetić (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2022-09-26, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Precision Mechanical Engineering

Abstract

U ovome radu najprije su predstavljeni osnovni pristupi modeliranju vozila, te su uvedeni
i jednadžbama opisani planarni dvotračni i bicikl model, kao temeljni modeli vozila
namijenjenih upravljanju. Nakon toga je pokazana gradacija u razinama modeliranja
kroz složeniji trodimenzionalni model gibanja vozila, do kratkog opisa modela sa 14
varijabli stanja iz komercijalnog programskog paketa AVL VSM. Također su ukratko
opisane konfiguracije senzora korištenih za estimaciju varijabli stanja bočne dinamike
vozila, s naglaskom na bočni kut klizanja vozila.
U drugom dijelu je iskorišten planarni kinematski model vozila kako bi se Kalmanov
filtar upotrijebio za procjenu bočnog kuta klizanja, te su pokazane neke nadogradnje i
analizirane performanse koristeći podatke dobivene simulacijom u profesionalnom programskom
paketu predstavljenom u prvom dijelu rada.

Abstract (english)

In this thesis, at first basic approaches to vehicle modelling are presented. Nextly, bicycle
and double-track models are described, as a fundamental control-oriented vehicle
models. Gradation in modelling complexity is shown through tridimensional vehicle
kinematic model all the way to the 14 degree-of-freedom model used in commercial software
package AVL VSM. Also, sensor configurations for lateral vehicle dynamics state
variables estimation are briefly presented, with the emphasis on the vehicle sideslip angle
estimation.
In the second part planar kinematical vehicle model is deployed in Kalman filter synthesis.
The basic form of filter together with its upgrades was used to estimate the vehicle
sideslip angle, and its performance was analyzed using the data of vehicle model from
the previously introduced professional software.

• Keywords: bicikl model; kinematski model vozila; brzina skretanja; kut bočnog klizanja vozila; Kalmanov filtar
• Keywords (english): bicycle model; kinematic vehicle model; yaw rate; vehicle sideslip angle; Kalman filter
• Language: croatian
• URN:NBN: urn:nbn:hr:235:692457
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2022-09-23 07:47:25