A LiDAR Based Semi-autonomous Collision Avoidance System and the Development of a Hardware-in-the-Loop Simulator to Aid in Algorithm Development and Human Studies

<p>In this paper, the architecture and implementation of an embedded controller for a steering based semi-autonomous collision avoidance system on a 1/10^th scale model is presented. In addition, the development of a 2D hardware-in-the-loop simulator with vehicle dynamics based on the bicycle model is described. The semi-autonomous collision avoidance software is fully contained onboard a single-board computer running embedded GNU/Linux. To eliminate any wired tethers that limit the system’s abilities, the driver operates the vehicle at a user-control-station through a wireless Bluetooth interface. The user-control-station is outfitted with a game-controller that provides standard steering wheel and pedal controls along with a television monitor equipped with a wireless video receiver in order to provide a real-time driver’s perspective video feed. The hardware-in-the-loop simulator was developed in order to aid in the evaluation and further development of the semi-autonomous collision avoidance algorithms. In addition, a post analysis tool was created to numerically and visually inspect the controller’s responses. The ultimate goal of this project was to create a wireless 1/10^th scale collision avoidance research platform to facilitate human studies surrounding driver assistance and active safety systems in automobiles. This thesis is a continuation of work done by numerous Cal Poly undergraduate and graduate students.</p>

Name thesis:degree_name

MS in Mechanical Engineering

Discipline thesis:degree_discipline

Mechanical Engineering

Year dc:date.available

2015

Author dc:creator

• Stevens, Thomas F.

Contributors dc:contributor

• Charles Birdsong

• ADAS Simulation hardware-in-the-loop driver assistance robotics
• Automotive Engineering
• Controls and Control Theory
• Robotics

Identifier

10.15368/theses.2015.169

OAI identifier oai:identifier

oai:digitalcommons.calpoly.edu:theses-2646