AUTONOMOUS COLLISION AVOIDANCE SYSTEM USING COMBINED FOUR-WHEEL STEERING AND DIRECT YAWMOMENT CONTROL

SHAHARUDIN, NUR AMALINA (2021) AUTONOMOUS COLLISION AVOIDANCE SYSTEM USING COMBINED FOUR-WHEEL STEERING AND DIRECT YAWMOMENT CONTROL. Masters thesis, Universiti Teknikal Malaysia Melaka.

Text NUR AMALINA BINTI SHAHARUDIN Master Dissertation.pdf Restricted to Registered users only Download (1MB)

Abstract

Nowadays autonomous vehicle becomes an important topic in the automotive research world. The evolution of an autonomous vehicle caused by the increase in an accident happened due to human error. In reducing the number of accidents that commonly happen on the road, many researchers conducted several studies on the collision avoidance system. This project will focus on modelling the eight-degree-of-freedom vehicle model using Dugoff’s Tire Model and the development of the quintic polynomial trajectory generation as the reference trajectory for overtaking maneuver by reducing the jerk. Then, the integrated controller for the lateral and longitudinal dynamics is based on combined fourwheel steering control and direct yaw-moment control is designed to track the reference trajectory. The performance of the collision avoidance controller is evaluated by using MATLAB Simulink. The results show that the proposed controller is able to follow the desired trajectory of the overtaking maneuver. However, two-stage square sum minimization provides better trajectory tracking and vehicle stabilization performances compared to square sum minimization.

Item Type:	Thesis (Masters)
Subjects:	Technology > Mechanical engineering and machinery
Depositing User:	ENCIK SAIFUL FADZLY JAMALUDIN
Date Deposited:	21 Jul 2026 14:13
Last Modified:	21 Jul 2026 14:13
URI:	https://repositori.mohe.gov.my/id/eprint/357

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