Remote control for operation and driving of ATLASCAR2
Autor(a) principal: | |
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Data de Publicação: | 2020 |
Tipo de documento: | Dissertação |
Idioma: | eng |
Título da fonte: | Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
Texto Completo: | http://hdl.handle.net/10773/31311 |
Resumo: | Obtaining a Self Driving Vehicle requires a well-planned collaboration between different areas and technologies, namely, it is crucial to effectively combine the sensory systems with the ability of remotely control the vehicle. This dissertation, integrated in the University of Aveiro Autonomous Driving project ATLASCAR2, links the vehicle’s actuators to the perception, navigation and decision making algorithms by creating a control and monitoring infrastructure and presents solutions to remotely control vehicle’s direction and speed. The control and monitoring infrastructure developed in this work uses the Controller Area Network of the vehicle for communication purposes and to access the current status of the vehicle by processing the messages exchanged between control units. In order to obtain solutions to remotely act on the direction and speed of the vehicle, the operation logic of the steering and propulsion systems of the Mitsubishi i-MiEV was studied and solutions that replicate the behaviour of the sensors used on these system are implemented. The results show the appropriateness of the developed solutions to control and monitor the vehicle and prove the feasibility of the method used to remotely control the steering wheel and accelerator pedal of the vehicle. However, for the braking system, an external mechanical actuator acting on the brake pedal is required to effectively control this system. Based on the results, the presented solutions show the great potential of utilizing the ATLASCAR2 to be used as a test platform of Autonomous Driving applications in a near future. |
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Remote control for operation and driving of ATLASCAR2Controller area networkSocketCANROS architectureRemote controlElectronic control unitsSteering systemPropulsion systemObtaining a Self Driving Vehicle requires a well-planned collaboration between different areas and technologies, namely, it is crucial to effectively combine the sensory systems with the ability of remotely control the vehicle. This dissertation, integrated in the University of Aveiro Autonomous Driving project ATLASCAR2, links the vehicle’s actuators to the perception, navigation and decision making algorithms by creating a control and monitoring infrastructure and presents solutions to remotely control vehicle’s direction and speed. The control and monitoring infrastructure developed in this work uses the Controller Area Network of the vehicle for communication purposes and to access the current status of the vehicle by processing the messages exchanged between control units. In order to obtain solutions to remotely act on the direction and speed of the vehicle, the operation logic of the steering and propulsion systems of the Mitsubishi i-MiEV was studied and solutions that replicate the behaviour of the sensors used on these system are implemented. The results show the appropriateness of the developed solutions to control and monitor the vehicle and prove the feasibility of the method used to remotely control the steering wheel and accelerator pedal of the vehicle. However, for the braking system, an external mechanical actuator acting on the brake pedal is required to effectively control this system. Based on the results, the presented solutions show the great potential of utilizing the ATLASCAR2 to be used as a test platform of Autonomous Driving applications in a near future.A obtenção de um Veículo Autónomo requer colaboração entre várias áreas e tecnologias, nomeadamente, é fundamental conseguir combinar os sistemas sensoriais com a capacidade de controlar o veículo remotamente de forma eficaz. Esta dissertação, integrada no projeto de Condução Autónoma da Universidade de Aveiro ATLASCAR2, conecta os atuadores do carro aos algoritmos de perceção, navegação e tomada de decisão criando uma infraestrutura de controlo e tomada de decisão e apresenta soluções para controlar remotamente a direção e velocidade do carro. A infraestrutura de controlo e monitorização desenvolvida neste projeto utiliza a Controller Area Network do veículo para efetuar a comunicação e aceder ao atual estado do veículo através do processamento das mensagens trocadas entre as unidades de controlo do mesmo. Para obter soluções para a atuação remota da direção e velocidade do veículo, foi estudado o modo de funcionamento dos sistemas de direção e propulsão do Mistubishi i-MiEV e a solução implementada replica o comportamento dos sensores utilizados nestes sistemas. Os resultados obtidos demonstram a adequação das soluções desenvolvidas para o controlo e monitorização do veículo e comprovam a viabilidade dos métodos utilizados para controlar remotamente o volante e acelerador do carro. No entanto, para o sistema de travagem seria necessário utilizar o atuador mecânico externo a atuar no pedal do travão para controlar este sistema remotamente. Os resultados apresentados evidenciam que o veículo ATLASCAR2 possa ser utilizado como plataforma de testes de Condução Autónoma num futuro próximo.2021-05-05T13:04:49Z2020-07-24T00:00:00Z2020-07-24info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesisapplication/pdfhttp://hdl.handle.net/10773/31311engFigueiredo, Diogo Augusto Rodrigues deinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2024-02-22T12:00:25Zoai:ria.ua.pt:10773/31311Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-20T03:03:13.092678Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse |
dc.title.none.fl_str_mv |
Remote control for operation and driving of ATLASCAR2 |
title |
Remote control for operation and driving of ATLASCAR2 |
spellingShingle |
Remote control for operation and driving of ATLASCAR2 Figueiredo, Diogo Augusto Rodrigues de Controller area network SocketCAN ROS architecture Remote control Electronic control units Steering system Propulsion system |
title_short |
Remote control for operation and driving of ATLASCAR2 |
title_full |
Remote control for operation and driving of ATLASCAR2 |
title_fullStr |
Remote control for operation and driving of ATLASCAR2 |
title_full_unstemmed |
Remote control for operation and driving of ATLASCAR2 |
title_sort |
Remote control for operation and driving of ATLASCAR2 |
author |
Figueiredo, Diogo Augusto Rodrigues de |
author_facet |
Figueiredo, Diogo Augusto Rodrigues de |
author_role |
author |
dc.contributor.author.fl_str_mv |
Figueiredo, Diogo Augusto Rodrigues de |
dc.subject.por.fl_str_mv |
Controller area network SocketCAN ROS architecture Remote control Electronic control units Steering system Propulsion system |
topic |
Controller area network SocketCAN ROS architecture Remote control Electronic control units Steering system Propulsion system |
description |
Obtaining a Self Driving Vehicle requires a well-planned collaboration between different areas and technologies, namely, it is crucial to effectively combine the sensory systems with the ability of remotely control the vehicle. This dissertation, integrated in the University of Aveiro Autonomous Driving project ATLASCAR2, links the vehicle’s actuators to the perception, navigation and decision making algorithms by creating a control and monitoring infrastructure and presents solutions to remotely control vehicle’s direction and speed. The control and monitoring infrastructure developed in this work uses the Controller Area Network of the vehicle for communication purposes and to access the current status of the vehicle by processing the messages exchanged between control units. In order to obtain solutions to remotely act on the direction and speed of the vehicle, the operation logic of the steering and propulsion systems of the Mitsubishi i-MiEV was studied and solutions that replicate the behaviour of the sensors used on these system are implemented. The results show the appropriateness of the developed solutions to control and monitor the vehicle and prove the feasibility of the method used to remotely control the steering wheel and accelerator pedal of the vehicle. However, for the braking system, an external mechanical actuator acting on the brake pedal is required to effectively control this system. Based on the results, the presented solutions show the great potential of utilizing the ATLASCAR2 to be used as a test platform of Autonomous Driving applications in a near future. |
publishDate |
2020 |
dc.date.none.fl_str_mv |
2020-07-24T00:00:00Z 2020-07-24 2021-05-05T13:04:49Z |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/masterThesis |
format |
masterThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
http://hdl.handle.net/10773/31311 |
url |
http://hdl.handle.net/10773/31311 |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.rights.driver.fl_str_mv |
info:eu-repo/semantics/openAccess |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.source.none.fl_str_mv |
reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação instacron:RCAAP |
instname_str |
Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
instacron_str |
RCAAP |
institution |
RCAAP |
reponame_str |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
collection |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) |
repository.name.fl_str_mv |
Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação |
repository.mail.fl_str_mv |
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1799137687626579968 |