title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° ÑÑÐ»ÐµÐ²Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð¼Ð°Ð³Ð¸ÑÑÑÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÑÐ³Ð°ÑÐ° Ð² ÑÑÐ»Ð¾Ð²Ð¸ÑÑ Ð²Ð½ÐµÑÐ½Ð¸Ñ Ð²Ð¾Ð·Ð¼ÑÑÐµÐ½Ð¸Ð¹, Ð¿Ð°ÑÐ°Ð¼ÐµÑÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¸ ÑÑÑÑÐºÑÑÑÐ½Ð¾Ð¹ Ð½ÐµÐ¾Ð¿ÑÐµÐ´ÐµÐ»ÐµÐ½Ð½Ð¾ÑÑÑÑ Ð¸ Ð·Ð°Ð´ÐµÑÐ¶ÐºÐ°Ñ Ð² ÐºÐ°Ð½Ð°Ð»Ðµ ÑÐ²ÑÐ·Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Development of a steering controller for a self-driving truck in conditions of external disturbances, parametric and structural uncertainties and delays in the communication channel
Creators: name: Ð¨ÐµÐ²ÑÐ¾Ð², ÐÐ²Ð°Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¹ Ð¼Ð°Ð³Ð¸ÑÑÑÐ°Ð»ÑÐ½ÑÐ¹ ÑÑÐ³Ð°Ñ
ÑÐ¸ÑÑÐµÐ¼Ð° Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ»ÐµÐ²ÑÐ¼ Ð¼ÐµÑ Ð°Ð½Ð¸Ð·Ð¼Ð¾Ð¼
ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑ ÑÑÐ»ÐµÐ²Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ
Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¹ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ñ
ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ ÑÐµÑÐµÐ· ÑÐ»ÐµÐºÑÑÐ¾ÑÑÐ¸Ð»Ð¸ÑÐµÐ»Ñ ÑÑÐ»Ñ
self-driving truck
automatic steering control system
steering controller
self-driving vehicle
control via electric power steering

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ¿Ð¾ÑÐ¾Ð±Ð¾Ð² Ð°Ð²ÑÐ¾Ð¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ»ÐµÐ²ÑÐ¼ Ð¼ÐµÑÐ°Ð½Ð¸Ð·Ð¼Ð¾Ð¼ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð³ÑÑÐ·Ð¾Ð²Ð¸ÐºÐ° Ð½Ð° Ð±Ð°Ð·Ðµ Mercedes-Benz Actros MP4 Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÐµÑÐµÐ· ÑÐ»ÐµÐºÑÑÐ¾ÑÑÐ¸Ð»Ð¸ÑÐµÐ»Ñ ÑÑÐ»Ñ. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ ÑÐ°Ð±Ð¾ÑÑ: 1. ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÑÐ¸ÑÑÐµÐ¼Ñ; 2. Ð¸Ð´ÐµÐ½ÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼Ñ; 3. ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð¹ Ð¼Ð¾Ð´ÐµÐ»Ð¸ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ°; 4. Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° Ð² ÑÐ¸ÑÑÐ¾Ð²Ð¾Ð¹ ÑÑÐµÐ´Ðµ; 5. ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ñ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° Ð½Ð° Ð¸ÑÐ¿Ð¾Ð»ÑÐ·ÑÐµÐ¼Ð¾Ð¼ ÑÑÐµÐºÐµ ÑÐµÑÐ½Ð¾Ð»Ð¾Ð³Ð¸Ð¹; 6. Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ðµ ÑÐºÑÐ¿ÐµÑÐ¸Ð¼ÐµÐ½ÑÐ¾Ð² Ð½Ð° ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¸ÑÑÐµÐ¼Ðµ Ð¸ Ð¾ÑÐ»Ð°Ð´ÐºÐ° ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ°. ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð²ÑÐ¿Ð¾Ð»Ð½ÑÐ»Ð°ÑÑ Ð½Ð° Ð±Ð°Ð·Ðµ ÐÐÐ Â«Ð¡ÑÐ°ÑÐÐ°Ð¹Ð½Â», Ð³Ð´Ðµ Ð¿ÑÐ¾Ð²Ð¾Ð´Ð¸Ð»Ð¾ÑÑ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¸ Ð²Ð°Ð»Ð¸Ð´Ð°ÑÐ¸Ñ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐµÑÐµÐ½Ð¸Ñ. Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð±ÑÐ» ÑÐ°ÑÑÐ¼Ð¾ÑÑÐµÐ½ ÑÑÐ´ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ ÑÐµÑÐµÐ½Ð¸Ð¹ Ð´Ð»Ñ ÑÐµÐ°Ð»Ð¸Ð·Ð°ÑÐ¸Ð¸ ÑÑÐ»ÐµÐ²Ð¾Ð³Ð¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½Ð° Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ°Ñ Ð¼Ð¾Ð´ÐµÐ»Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¸ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ°, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð²Ð°Ð»Ð¸Ð´Ð°ÑÐ¸Ñ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½Ð¾Ð³Ð¾ ÑÐµÑÐµÐ½Ð¸Ñ.
description: This work is devoted to the study of ways to automatically control the steering mechanism of an self-driving truck based on Mercedes-Benz Actros MP4 and the development of an algorithm for control through an electric power steering. Tasks that were solved during the work: 1. development of a mathematical model of the system; 2. system identification; 3. development of a mathematical model of the controller; 4. Simulation of the controller in a digital environment; 5. Implementation of the controller on the technology stack used; 6. Conducting experiments on a real system and debugging the controller. This work was carried out on the basis of the ScPA StarLine, where the research and validation of the received solution was carried out. As a result, a number of existing solutions for the implementation of steering were considered, a mathematical model of the system and controller was developed, and validation of the resulting solution was carried out.