Thesis worker - Coordinated Steering and Braking Control for Heavy Vehicles

Thesis Work 30 credits 

Coordinated Steering and Braking Control for Heavy Vehicles During Split-Friction Braking 

This thesis at Scania builds on previous work on split-friction braking. It will investigate control strategies for driver assistance, with the aim of implementing and evaluating the selected approach on Scania’s test track.

Introduction

Thesis work is an excellent way to get closer to Scania and build relationships for the future. Many of today's employees began their Scania career with their degree project.

Background 

When the wheels on the left and right sides of a vehicle brake on surfaces with different friction levels, the resulting split-friction (μ-split) braking creates an unwanted yaw moment. Steering control can counteract this moment while helping the vehicle maintain lateral stability. This thesis will build on the control methods explored in the previous work and investigate how they can be developed further. 

Description 

The thesis may explore one or more of the following areas. The final scope will be agreed with the supervisors.  

1. Control performance versus complexity 

Compare PID, LQR and MPC under equivalent operating conditions and actuator constraints. Determine when increased controller complexity provides meaningful improvements in command tracking, lateral stability and robustness, considering computational demand and tuning effort. 

2. Coordinated steering and braking 

Investigate whether coordinated steering and individual wheel braking can reduce stopping distance while following external motion commands and maintaining lateral stability. Develop a control strategy that accounts for tyre-force constraints and actuator dynamics. An alternative scope is to investigate an actively steerable tag axle as an additional control input. 

3. Driver interaction and shared steering control 

Investigate how steering assistance should interact with a driver during μ-split braking. Include the driver in the closed-loop model to analyse reaction delay, corrective steering and conflicting inputs. Compare fixed and variable assistance authority to maintain lateral stability, reduce driver effort and allow driver intervention. 

Your profile 

The thesis is suitable for two students with knowledge of signal processing, control theory, MATLAB/Simulink, vehicle dynamics and C programming. 

Time plan 

30 credits over 20 weeks. Start date to be agreed. 

Contact person and supervisors

Oscar Berg, Function Owner and Developer, [email protected] 

Agaton Öberg, System Owner and Developer, [email protected] 

Application:

Your application must include a CV, personal letter and transcript of grades.

A background check might be conducted for this position.

We are conducting interviews continuously and may close the recruitment earlier than the date specified.