Section: Systems and Control
Tutor: FAGIANO LORENZO MARIO
Advisor: CORNO MATTEO Major Research topic
:Analysis and Development of Advanced Driver Assistance Systems for Off-Higway VehiclesAbstract:
Cars represent the primary means of passenger transport in the world and road accidents are one of the mainspring of premature human death. Although, a decrease in the number of road deaths is observed throughout the last years. Technology advances in vehicle dynamics control are considered one of the reasons for this trend: road vehicles are nowadays very complex systems, composed of several subsystem which are often interacting among each other.
Car manufacturers have been responding to this increasing need for safety by developing electronic systems called Advanced Driver Assistance Systems (ADAS), and increasingly deploying them on board of commercial vehicles. ADAS are systems designed for two- and four-wheeled vehicles which have the goal of increasing comfort and safety during everyday driving; in some cases, such systems are only asked to report information or alert the driver in dangerous situations, while in other cases they directly intervene on the vehicle dynamics to avoid potential hazards.
The literature has mostly focused on the prevention of
casualties for road vehicles, while only limited interest has been paid to off-highway vehicles. They are also interested by a less-established legislation
concerning licensing, safety education and minimum age.
Even though, the popularity and the diffusion of these vehicles is rising, the open scientific and technical literature is rather scare on ADAS for this class of vehicles. This is due to several factors: a smaller market and the fact that in most cases, solutions developed for road vehicles are also applicable to this minor class.
The research studies of this Thesis proposes innovative ADAS for different off-highway vehicles, dealing with a specific environment for each application. In particular, the following case studies are investigated: an Antilocking Braking System (ABS) for snowmobile, a road gradient estimator for an agricultural tractor, an obstacle detection system for a snow groomer, an automatic steering system for an agricultural tractor focused for the navigation in a vineyard. The proposed systems are tested and validated through experimental results.