Rancang Bangun Lane Keeping Controller Pada Prototipe Autonomous Car Dengan Metode Model Predictive Control

Satria, Muhammad Azis (2021) Rancang Bangun Lane Keeping Controller Pada Prototipe Autonomous Car Dengan Metode Model Predictive Control. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

	Text 02311740000060-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 October 2023. Download (1MB) | Request a copy
	Text 02311740000060-Undergraduate_Thesis.pdf - Accepted Version Restricted to Repository staff only until 1 October 2023. Download (1MB) | Request a copy

Abstract

Autonomous car merupakan suatu teknologi yang dapat membantu manusia dalam berkendara, dan menjadi salah satu solusi untuk menurunkan tingkat kecelakaan. Salah satu fungsi dasar dari autonomous car adalah lane keeping controller yang berfungsi untuk mengendalikan kemudi kendaraan supaya tetap berada pada jalur. Pada penelitian ini penulis merancang lane keeping controller pada prototipe autonomous car menggunakan metode model predictive control. Model predictive control menghitung sudut kemudi mobil yang optimal untuk meminimalisir kesalahan lateral posisi mobil terhadap lintasan berdasarkan pemodelan prototipe. Masukan berupa lintasan untuk Model Predictive Control diperoleh dari pengolahan citra terhadap gambar yang ditangkap oleh kamera. Kesalahan lateral mulai meningkat di awal tikungan dan mulai menurun di akhir tikungan. Hal tersebut disebabkan oleh sudut tikung prototipe yang lebih kecil dari sudut tikung lintasan. Berdasarkan percobaan yang telah dilakukan, lane keeping controller yang telah dirancang dapat menjaga kendaraan di dalam jalur hingga kurvatur tikungan 0,27 m-1 dengan kesalahan lateral maksimal 8,86 cm. Kesalahan lateral tersebut memenuhi target kesalahan lateral maksimal yaitu dibawah 11,15 cm.
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Autonomous car is a technology that could help human to drive, and is one of the solutions to reduce traffic accident. One of the basic functions of autonomous car is lane keeping controller. Lane keeping controller control vehicle’s steering to keep the vehicle driving on the track. Author designed a lane keeping controller on an autonomous car prototype using model predictive control. Model predictive control (MPC) used to calculate the optimum steering angle based on lateral error and the model used. Reference trajectory as an input for the MPC obtained from image processing towards images captured by camera. Prototype’s turning curvature is lower than trajectory curvature which made lateral error increasing before prototype started to turn, and decreasing after turning. Designed lane keeping controller could keep the prototype to stay on track until 0.27 m-1 curvature with 8.86 cm maximum lateral eror fulfilling the target which is under 11.15 cm.

Item Type:	Thesis (Undergraduate)
Uncontrolled Keywords:	Autonomous Car, Lane Keeping Controller, Model Predictive Control
Subjects:	T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL521.3 Automatic Control
Divisions:	Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User:	Muhammad Azis Satria
Date Deposited:	01 Sep 2021 03:33
Last Modified:	01 Sep 2021 03:33
URI:	http://repository.its.ac.id/id/eprint/88941

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