SAE Level 2 ADAS - Controller Design for UW EcoCAR

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dc.contributor.advisorReinhall, Per
dc.contributor.authorMathan Sundaram, Naveen
dc.date.accessioned2021-08-26T18:13:20Z
dc.date.available2021-08-26T18:13:20Z
dc.date.issued2021-08-26
dc.date.submitted2021
dc.descriptionThesis (Master's)--University of Washington, 2021
dc.description.abstractThis work focuses on building a supervisory controller for the UW EcoCAR to incorporate SAE level 2 autonomy features. It comprises Adaptive Cruise Control (ACC), Automatic Emergency Braking (AEB) and Steering Assistance. It uses a separate controller for Velocity Tracking and Distance Tracking. A switching algorithm is used to intelligently shift between the Conventional Cruise Control (CCC) and ‘Stop & Go’ Adaptive Cruise Control (S&G ACC). Complete control algorithm has been verified in simulation using Model-In-the-Loop (MIL) testing on MATLAB/Simulink. Further, real-time Hardware-In-the-Loop (HIL) testing has been done using MicroAutoBox II (MABx) and dSPACE Simulator using Controller Area Network (CAN) Communication. The main goal is to improve vehicle safety and performance, considering the constraints on acceleration, deceleration and jerk related to passenger comfort.
dc.embargo.termsOpen Access
dc.format.mimetypeapplication/pdf
dc.identifier.otherMathanSundaram_washington_0250O_23188.pdf
dc.identifier.urihttp://hdl.handle.net/1773/47642
dc.language.isoen_US
dc.rightsnone
dc.subjectACC
dc.subjectADAS
dc.subjectAEB
dc.subjectEcoCAR
dc.subjectHIL
dc.subjectMIL
dc.subjectMechanical engineering
dc.subjectAutomotive engineering
dc.subjectRobotics
dc.subject.otherMechanical engineering
dc.titleSAE Level 2 ADAS - Controller Design for UW EcoCAR
dc.typeThesis

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