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Embedded System for Steering Assistance Based on Precise Geolocation
Technical Paper
2017-36-0044
ISSN: 0148-7191, e-ISSN: 2688-3627
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English
Abstract
The focus of this study was to develop and validate a steering system assistance based on precise geolocation. The initial analysis was carried out using a mathematical model of a generic vehicle, to perform Matlab® simulations aiming to generate an algorithm capable of controlling the vehicle steering autonomously. Based on the results of those simulations it was possible to determinate that a RTK (Real Time Kinematic) would be a suitable technology for the geolocation system, meeting precision and control requirements. In order to validate the system in a real environment, a scale model RC car was equipped with a specific embedded electronic capable of recording the path driven and reproducing it autonomously. A HMI was developed making possible to visualize the vehicle during its operation. Coordinated with the vehicle, a remote cockpit with telemetry system emulates the steering wheel rotation. After all the tests, the system proved capable of reproducing predefined path with an average precision of 8 cm in favorable conditions.
Authors
- Felipe Heuer - Institutos Lactec
- Roberson Oliveira - Volvo Group do Brasil
- Guilherme Reksiedler - Volvo Group do Brasil
- Vilson R. Mognon - Institutos Lactec
- Thiago Greboge - Institutos Lactec
- Laerte C. da Rosa - Institutos Lactec
- Rafael R. de Carvalho - Institutos Lactec
- Giordano B. Wolaniuk - Institutos Lactec
- Ricardo M. Schmal - Institutos Lactec
Topic
Citation
Heuer, F., Oliveira, R., Reksiedler, G., Mognon, V. et al., "Embedded System for Steering Assistance Based on Precise Geolocation," SAE Technical Paper 2017-36-0044, 2017, https://doi.org/10.4271/2017-36-0044.Data Sets - Support Documents
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References
- Cordeiro , Rafael de Angelis Modelagem e Controle de Tragetória de um Veículo Robótico Terrestre de Exterior UNICAMP 2013
- Rajamani Rajesh Vehicle Dynamics and Control Spinger 2006