Rancang Bangun Sistem Elektronik untuk Kendali Setir, Throttle, dan Rem pada Mobil Listrik

Hafidzh, Muhammad (2026) Rancang Bangun Sistem Elektronik untuk Kendali Setir, Throttle, dan Rem pada Mobil Listrik. Other thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Kendaraan listrik modern telah dilengkapi sistem ADAS, namun akses ke jaringan CAN Bus bersifat proprietari sehingga pengembangan sistem kendali eksternal menjadi tantangan tersendiri. Penelitian ini bertujuan merancang sistem elektronik untuk mengendalikan setir, throttle, dan rem mobil listrik melalui jaringan CAN Bus. Sistem dirancang menggunakan arsitektur man-in-the-middle dengan dua konverter USB ke CAN di antara modul ADAS dan ECU, dikendalikan oleh komputer berbasis ROS 2. Reverse engineering CAN Bus berhasil mengidentifikasi ID CAN dan algoritma checksum CRC-8 SAE J1850 yang disusun ke dalam file DBC. Sistem identifikasi black-box menghasilkan model MISO orde 2 dengan perbedaan dinamika signifikan antara throttle dan rem, yang menjadi dasar perancangan kontroler PID asimetris. Untuk kendali setir digunakan algoritma Pure Pursuit adaptif yang diuji pada empat geometri lintasan dengan dua sumber estimasi posisi. Hasil pengujian menunjukkan bahwa pada throttle, PID menghasilkan overshoot dan rise time terendah di seluruh kecepatan. Pada rem, PID menghasilkan RMSE pelacakan kecepatan 0,07–0,29 m/s. Dalam pengujian path following, DLIO mencatat RMSE setir 0,27 rad pada sirkuit ITS dengan persentase keberhasilan 100%, sedangkan Odometri Roda dan Gyro mencatat 2,46 rad dengan keberhasilan hanya 40%. Kegagalan pada Jalur Putar Balik disebabkan oleh batas sudut setir LKAS. Sistem keamanan berhasil dirancang dengan mekanisme ambil alih setir, throttle, dan rem yang mengadopsi logika sistem ADAS bawaan kendaraan begitu juga dengan mekanisme tombol darurat yang menghasilkan jarak henti 2,41–27,58 m pada 5–30 km/jam. Sistem yang dirancang berhasil mengintegrasikan kendali setir, throttle, dan rem dalam satu platform pada mobil listrik Chery OMODA E5.
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Modern electric vehicles are equipped with ADAS, yet access to the CAN Bus network is proprietary, making external control system development challenging. This research aims to design an electronic system for controlling the steering, throttle, and brake of an electric vehicle through the CAN Bus network. The system uses a man-in-the-middle architecture with two USB-to-CAN converters between the ADAS module and ECU, controlled by a ROS 2-based computer. CAN Bus reverse engineering successfully identified CAN IDs and the CRC-8 SAE J1850 checksum algorithm, compiled into a DBC file. Black-box system identification yielded a second-order MISO model with significant dynamic differences between throttle and brake, forming the basis for an asymmetric PID controller design. For steering control, an adaptive Pure Pursuit algorithm was tested on four trajectory geometries using two position estimation sources. Test results show that on throttle, PID achieved the lowest overshoot and rise time across all speeds. On brake, PID achieved a velocity tracking RMSE of 0.07–0.29 m/s. In path following tests, DLIO recorded a steering RMSE of 0.27 rad on the ITS circuit with a 100% success rate, while Wheel Odometry with Gyro recorded 2.46 rad with only a 40% success rate. The U-turn path failure was caused by the LKAS steering angle limit. The safety system with ADAS override mechanisms and an emergency stop button produced stopping distances of 2.41–27.58 m at 5–30 km/h. The designed system successfully integrated steering, throttle, and brake control on a single platform in the Chery OMODA E5 electric vehicle.

Item Type:	Thesis (Other)
Uncontrolled Keywords:	CAN Bus, PID Asimetris, Pure Pursuit, Rem, Setir, Throttle, Asymmetric PID, Brake, Steering.
Subjects:	T Technology > TK Electrical engineering. Electronics Nuclear engineering > TK3070 Automatic control T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions:	Faculty of Intelligent Electrical and Informatics Technology (ELECTICS) > Electrical Engineering > 20201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Hafidzh
Date Deposited:	23 Jul 2026 00:52
Last Modified:	23 Jul 2026 00:52
URI:	http://repository.its.ac.id/id/eprint/136652

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