Estimation of Steering Wheel Angle in Heavy-Duty Trucks
Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
The project presented in this report is a master's thesis performed at Scania CV. The main purpose is to develop an algorithm that estimates the offset of the values that the steering wheel angle sensor reports in a truck or tractor, and also to investigate the possibility to estimate the steering wheel angle in real-time. The developed algorithm successfully estimates the offset to an accuracy on the order of degrees, and the uncertainty of the estimate is ultimately determined by the backlash in the steering system, which may range up to approximately 15 degrees or more depending on service standards. The investigation also shows that two general approaches to estimate the steering wheel angle in real-time can produce unbiased estimates only when the vehicle is cornering at low speeds.
Place, publisher, year, edition, pages
2016. , 39 p.
UPTEC F, ISSN 1401-5757 ; 16019
Estimation, Steering Wheel Angle, Sensor, Offset, Bias
Signal Processing Embedded Systems
IdentifiersURN: urn:nbn:se:uu:diva-297401OAI: oai:DiVA.org:uu-297401DiVA: diva2:941736
Master Programme in Engineering Physics
Nyberg, TomasMedvedev, Alexander