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Advanced Filter Design for Autonomous Vehicles
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Avancerad Filterdesign för Autonoma Fordon (Swedish)
Abstract [en]

The introduction of autonomous vehicles comes with many benefits related to safety and quality-of-life, the implementation of which is a challenging task for engineers to solve; one part of this aforementioned task is the requirement for precise positioning.Firstly, this thesis work investigated the contemporary fields of science rel-evant for the task of position estimation. The paper then dissertated the theory, implementation and the experimental evaluation of three di˙erent methods of estimating position. The individual properties was then examined for the dif-ferent vehicle filters and the optimal method of estimating position was then determined with regards to its specified use case, the autonomous truck appli-cation.The methods chosen for evaluation were the Unscented Kalman Filter (UKF), the Controller Output Observer (COO) and the Washout filter method. These methods were evaluated using physical experiments carried out on roads and the result of which showed that the Controller Output Observer (COO) and the Washout filter methods shared significant disadvantages compared to the supe-rior Unscented Kalman Filter (UKF). Based on the experimental results a new filter constellation were proposed whereby two modified position evaluating filters are connected in series.

Abstract [sv]

Introduceringen av autonoma fordon kommer med många fördelar inom såväl säkerhet som livskvalité; implementationen av denna teknik innebär en mängd utmaningar för ingenjörer inom området. En av dessa utmaningar är kravet på nogrann positionering.Detta examensarbete undersöker först de discipliner inom vetenskapen re-levanta för positioneringsuppgiften för att sedan på detaljnivå beskriva teorin, implementationen och sedan den experimentella utvärderingen av dessa olika estimeringsmetoder. De individuella egenskaperna undersöktes och den opti-mala metoden utsågs för det valda användarfallet; autonoma lastbilar.De valda estimeringsfiltrena var Unscented Kalman Filter (UKF), Control-ler Output Observer (COO) och Washout-filter metoden. Dessa koncept blev utvärderade med hjälp av vägburna experiment varav resultaten visade att bå-de Washout- och COO metoderna delade tydliga nackdelar i jämförelse med det överlägsna UKF konceptet. De experimentellt härledda resultaten ligger till grund för ett nytt föreslaget filterkoncept för att estimera position där två modifierade fordonsfilter kombineras i serie.

Place, publisher, year, edition, pages
2019. , p. 79
Series
TRITA-SCI-GRU ; 2019:375
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-265620OAI: oai:DiVA.org:kth-265620DiVA, id: diva2:1380198
External cooperation
Einride
Examiners
Available from: 2019-12-19 Created: 2019-12-18 Last updated: 2019-12-19Bibliographically approved

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