Control System and State Estimation of Autonomous EV

Abstract

Because it has the potential to transform the transportation system, self-driving cars are the focus of much academic study as well as significant business investment. The capacity of a vehicle to detect and traverse the surroundings is critical for reliable autonomous urban driving, which will enhance driver and vehicle safety, driving efficiency, driver assistance, traffic control, and other field robotic applications. The goal of this study is to detail the automation systems developed for the NUSTAG Self-Driving Car project's prototype car. The project's research focuses on autonomous technology modelling, design, system identification, and implementation. i) Vehicle Controls design, ii) Hardware Implementation, and iii) State- Estimation are the main topics of this study. With the capacity to construct and maintain a map of their environment based on information from a number of sensors situated throughout the vehicle, self-driving cars are primed for rapid adoption. The programme then analyses all of these sensory inputs to determine the actuation commands to send to the vehicle. For state estimation, the vehicle employs visual inertial odometry. All of these cuttingedge technologies enable safe and efficient self-driving.