Micro-electromechanical system based optimized steering angle estimation mechanism for customized self-driving vehicles

Butt Muhammad Atif; Riaz Faisal; Khalid Shehzad; Abid Samia; Habib Muhammad Asif; Shafique Sarmad; Han Kijun

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Micro-electromechanical system based optimized steering angle estimation mechanism for customized self-driving vehicles

机译：基于微机电系统的定制自动驾驶车辆优化转向角估计机构

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摘要

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.

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来源
《Measurement and Control: Journal of the Institute of Measurement and Control》 |2021年第4期|共10页
作者
Butt Muhammad Atif; Riaz Faisal; Khalid Shehzad; Abid Samia; Habib Muhammad Asif; Shafique Sarmad; Han Kijun;
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作者单位

Mirpur Univ Sci &

Technol MUST Dept Comp Sci &

Informat Technol Mirpur Ajk Pakistan;

Mirpur Univ Sci &

Technol MUST Dept Comp Sci &

Informat Technol Mirpur Ajk Pakistan;

Bahria Univ Dept Comp Engn Islamabad Pakistan;

Mirpur Univ Sci &

Technol MUST Dept Comp Sci &

Informat Technol Mirpur Ajk Pakistan;

Natl Text Univ Dept Comp Sci Faisalabad Pakistan;

Mirpur Univ Sci &

Technol MUST Dept Comp Sci &

Informat Technol Mirpur Ajk Pakistan;

Kyungpook Natl Univ Sch Comp Sci &

Engn Daegu 41566 South Korea;

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正文语种 eng
中图分类仪器、仪表;
关键词
Automated steering angle estimation; customized self-driving cars; MEMS; steering angle sensor;

机译：自动转向角估计;定制自动驾驶汽车;MEMS;转向角传感器;

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机译：基于非线性控制和优化技术的单车和多车系统制导综合与实现

Micro-electromechanical system based optimized steering angle estimation mechanism for customized self-driving vehicles

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