Perancangan Sistem Lane Keeping Assist pada Power Steering Autonomous Car

Ahzami, Afif Rijal (2021) Perancangan Sistem Lane Keeping Assist pada Power Steering Autonomous Car. Undergraduate thesis, Institut Teknologi Sepuluh Nopember.

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Abstract

Persaingan dalam pengembangan teknologi pada mobil listrik di dunia semakin pesat, termasuk meningkatkan efisiensi dalam penggunaan energi , salah satu pengembangan yang dilakukan ilmuwan adalah lane keeping assist. Lane keeping assist adalah system yang tetap menjaga mobil berada di lajur yang benar. Cara kerja sistem ini dengan mendeteksi marka jalan melalui sensor Monocular Camera. Pada penelitian kali ini dilakukan penggabungan system lane keeping assist terhadap power steering control dengan melakukan variasi kecepatan dan melihat variasi kecepatan tersebut sudah berada pada jalur lintasan yang sudah ditentukan. Langkah yang dilakukan membuat lintasan, melakukan perancangan steering control autonomous vehicle dynamic dan perancangan desain lane keeping assist selanjutnya digabungkan dan dilakukan uji coba. Hasil yang diperoleh dari hasil pengujian nilai kecepatan dengan range 5 sampai 30 m/s semakin besar kecepatan terjadi peningkatan nilai RMSE dengan nilai terbesar, pada kecepatan maksimal 30 m/s mempunyai nilai RMSE sebesar 0.03952 radian pada steering angle, 0.2613 meter pada lateral deviation , 0.03443 radian pada relative yaw angle ,sehingga pada kecepatan diatas 30 m/s mengalami understeer sehingga keluar jalur lintasan. ===================================================================================================== Competition in the development of technology in electric cars in the world is increasing rapidly, including increasing efficiency in energy use. One of the developments made by scientists is lane keeping assist. Lane keeping assist is a system that keeps the car in the right lane. The way this system works is by detecting road markings through the Monocular Camera sensor. In this study, a lane keeping assist system was combined with power steering control by varying the speed and seeing that the speed variation was already on the predetermined path. The steps taken are making the track, designing the steering control autonomous vehicle dynamic and designing the lane keeping control design are then combined and tested. The results obtained from the test results of velocity values with a range of 5 to 30 m / s, the greater the speed, the increase in the RMSE value with the largest value, at a maximum speed of 30 m / s, an RMSE value of 0.03952 radians at the steering angle, 0.2613 meters at lateral deviation 0.03443 radians at relative yaw angle, so that at speeds above 30 m / s experience understeer so that it goes off the track.

Item Type: Thesis (Undergraduate)
Uncontrolled Keywords: Kata Kunci: Lane keeping assist system, power steering control, vehicle dynamic Keywords: Lane keeping assist system, power steering control, vehicle dynamic
Subjects: T Technology > TL Motor vehicles. Aeronautics. Astronautics > TL152.8 Vehicles, Remotely piloted. Autonomous vehicles.
Divisions: Faculty of Industrial Technology and Systems Engineering (INDSYS) > Physics Engineering > 30201-(S1) Undergraduate Thesis
Depositing User: Afif Rijal Ahzami
Date Deposited: 13 Mar 2021 00:55
Last Modified: 13 Mar 2021 00:55
URI: https://repository.its.ac.id/id/eprint/84184

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