Pregled upravljačkih sustava autonomnih vozila

undergraduate thesis

• Title (english): An Overview of Control Systems for Autonomous Vehicle
• Author: Kristijan Jurić
• Mentor: Edouard Ivanjko (mentor)
• Committee member: Sadko Mandžuka (predsjednik povjerenstva)
• Committee member: Dino Čakija (član povjerenstva)
• Committee member: Miroslav Vujić (član povjerenstva)
• Granter: University of Zagreb; Faculty of Transport and Traffic Sciences; (Division of Intelligent Transport Systems and Logistics); (Department of Intelligent Transport Systems); Zagreb
• Defense date and country: 2019-09-17, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Traffic and Transport Technology; Intelligent Transport Systems and Logistics

Abstract

Autonomna vozila, bila to cestovna, vodna ili zracna sve su više u primjeni, te se koriste u mnogobrojnim aplikacijama. Od autonomnih taxi službi do bespilotnih letjelica za nadgledanje odreenih podrucja autonomna vozila sve više ulaze u podrucje svakodnevice. Kontinuiran tehnološki razvitak u posljednjih nekoliko desetljeca je omogucio autonomnim vozilima da postanu stvarnost, no problemi s dizajnom pouzdanih upravljackih sustava koji bi omogucili ucinkovito, korisno i najvažnije sigurno upravljanje autonomnim vozilom predstavlja prepreku. U ovom završnom radu obrauju se tehnologija i pristupi koji su se koristili u posljednjih 30 godina koji su i doveli do prvih autonomnih vozila, opisuju se standardni upravljacki sustavi autonomnih vozila današnjice, osnovni pristupi za izbjegavanje prepreka u autonomnoj vožnji, te se dokazuje funkcionalnost samog rada takvog upravljackog sustava uporabom Arduino razvojne platforme u sukladnosti sa razlicitim senzorima implementiranih na postojecoj maketi malog cestovnog vozila, pripadajucim sklopovljem, napisanim programskim kodom i dijagramom toka koji i upravljaju radom simulatora autonomnog vozila. Simulacija rada autonomnog vozila se vrši na konstruiranom poligonu, gdje se u stvarnom vremenu ocitavaju podaci sa senzora i prosljeuju se dalje procesnoj jedinici na obradu koja prema definiranoj logici donosi odluke u vožnji.

Abstract (english)

Autonomous vehicles, whether be road, water or air, are increasingly in use in many applications. From autonomous taxi services to unmanned aerial vehicles for surveillance of certain areas autonomous vehicles are increasingly entering the realm of everyday life.The continuous technological development in the last few decades have made autonomous vehicles to become a reality, but problems with the design of reliable control systems which would allow for an efficient, useful and most importantly safe operation of an autonomous vehicle is an obstacle. This final paper addresses the technology and approaches used in the the last 30 years that led to the first autonomous vehicles, standard control systems of an autonomous vehicle is described, main approaches for obstacle avoidance in autonomous driving and also the functionality of workable control system using an Arduino development platform is proven in accordance with various sensors implemented on an existing model of a small road vehicle, with associated hardware, written code and flowchart that control the operation of the autonomous vehicle simulator. The operation of an autonomous vehicle is simulated on a constructed polygon course, where real-time sensor data is read and forwarded to a processing unit that makes driving decisions by defined logic.

• Keywords: Arduino; simulator autonomnog vozila; upravljacki sustavi; pouzdanih
• Keywords (english): Arduino; autonomous vehicle simulator; control systems; reliable
• Language: croatian
• URN:NBN: urn:nbn:hr:119:204764
• Study programme: Title: Intelligent Transport Systems and Logistics; specializations in: Intelligent Transport Systems, Logistics; Course: Intelligent Transport Systems; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka prometa (sveučilišni/a prvostupnik/prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka prometa)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2019-11-14 12:36:24