Micro-electromechanical system based optimized steering angle estimation mechanism for customized self-driving vehicles
| Autor: | Muhammad Atif Butt, Faisal Riaz, Shehzad Khalid, Samia Abid, Muhammad Asif Habib, Sarmad Shafique, Kijun Han |
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| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: | |
| Zdroj: | Measurement + Control, Vol 54 (2021) |
| Druh dokumentu: | article |
| ISSN: | 0020-2940 00202940 |
| DOI: | 10.1177/00202940211000076 |
| Popis: | In an automated steering system of the self-driving vehicles, the steering wheel angle is measured by the absolute angular displacement sensors or relative angle sensors. However, these sensors either encompass global navigation satellite systems (GNSS)/gyroscope – Micro Electromechanical-Sensor (MEMS) based solutions or comprise of the complex gear-based mechanical structure which results in latency and additive bias in the accumulative steering angle assessment. To address these issues, we propose a novel steering angle assessment system based on enhanced gear mechanism along with the adapted rotation paradigm for the customized self-driving vehicles. Additionally, a digital signal processing system has been introduced to resolve the issues in the identification of absolute central and max-bounding steering wheels position in self-driving vehicles. In assistance with the proposed mechanism, an algorithm has also been proposed to optimize the computed steering angle to minimalize the effect of additive bias in the accuracy. The proposed mechanism has been installed in the customized self-driving testbed vehicle and rigor validation has been performed in the straight and curvy road scenarios. Finally, the comparison study has been carried out between the conventional relative sensor and the proposed mechanism to show the accuracy and effectiveness of the proposed mechanism in terms of error rate, stability, and deviation. |
| Databáze: | Directory of Open Access Journals |
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