In this paper, the architecture and implementation of an embedded controller for a steering based semi-autonomous collision avoidance system on a 1/10th 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 1/10th 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.
","abstract_html":"<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<sup>th</sup> 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<sup>th</sup> 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>","abstract_has_math":false,"creators":["Stevens, Thomas F."],"institution":null,"degree_name":"MS in Mechanical Engineering","degree_level":null,"degree_discipline":"Mechanical Engineering","degree_department":null,"school":null,"contributors":["Charles Birdsong"],"advisors":[],"committee_chairs":[],"committee_members":[],"year":2015,"date_issued":"2015-12-01T08:00:00Z","date_published":"2015-12-01T08:00:00Z","updated_at":"2026-07-24T01:32:55Z","subjects":["ADAS Simulation hardware-in-the-loop driver assistance robotics","Automotive Engineering","Controls and Control Theory","Robotics"],"languages":[],"rights":[],"rights_urls":[],"identifier_entries":[{"key":"dc:identifier","label":"Identifier","values":["10.15368/theses.2015.169"],"render_values":[{"text":"10.15368/theses.2015.169","href":"https://doi.org/10.15368/theses.2015.169","code":true}]}]},"links":{"outbound_url":"https://digitalcommons.calpoly.edu/theses/1521","outbound_label":"Repository record","outbound_source":"dc:identifier"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor","label":"Contributor","values":["Charles Birdsong"]},{"key":"dc:creator","label":"Author","values":["Stevens, Thomas F."]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.available","label":"Dc Date Available","values":["2015-12-06T08:00:00Z"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_name","label":"Degree Name","values":["MS in Mechanical Engineering"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["ADAS Simulation hardware-in-the-loop driver assistance robotics","Automotive Engineering","Controls and Control Theory","Robotics"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier","label":"Identifier","values":["https://digitalcommons.calpoly.edu/theses/1521","10.15368/theses.2015.169"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["In this paper, the architecture and implementation of an embedded controller for a steering based semi-autonomous collision avoidance system on a 1/10th 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 1/10th 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.
"]},{"key":"dc:title","label":"Title","values":["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"]}]}],"canonical_facts":{"dc:contributor":["Charles Birdsong"],"dc:creator":["Stevens, Thomas F."],"dc:date.available":["2015-12-06T08:00:00Z"],"dc:description.abstract":["In this paper, the architecture and implementation of an embedded controller for a steering based semi-autonomous collision avoidance system on a 1/10th 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 1/10th 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.
"],"dc:identifier":["https://digitalcommons.calpoly.edu/theses/1521","10.15368/theses.2015.169"],"dc:subject":["ADAS Simulation hardware-in-the-loop driver assistance robotics","Automotive Engineering","Controls and Control Theory","Robotics"],"dc:title":["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"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_name":["MS in Mechanical Engineering"]},"updated_at":"2026-07-24T01:32:55Z"}