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Thesis Work - Vehicle Speed Estimation at All-wheel Spinning Conditions

Thesis Worker at Volvo Cars

Welcome to explore the world of Volvo Cars by writing your thesis with us! As a thesis worker in our organization you are supported by a supervisor who follows you during your project. All thesis projects are arranged in business critical areas and therefore you will be able to contribute to our company purpose – providing freedom to move in a safe, sustainable and personal way – from day one! 



At Vehicle Energy and Motion Control, our purpose is to develop and deliver the most energy efficient and situation adopted ride and drive experience. Evaluating driver input, surrounding information (e.g. camera, radar and route data) and Autonomous Drive request, as well as vehicle state sensor input, our software (mainly inhouse developed) coordinates the different actuators (engine, motors, brakes, steering) to fulfill our purpose and balance vehicle attributes. 


Along with the vehicle autonomy campaign across the global vehicle industry, a large number of active vehicle motion control functions have been invented and developed, in order to enhance safety, comfort and efficiency during driving. The critical foundation for developing a decent vehicle motion control function is the vehicle state estimation, where vehicle’s motion variables will be measured and estimated. 
Vehicle speed is one of the vehicle states which cannot be directly measured with on-board sensors, both at longitudinal and lateral direction. However, it is vital for many control functions e.g. traction control, ACC, Pilot assist functions and eventually AD driving. For all these functions, if one of the four wheels is free rolling then it can be detected and used as the reference wheel to estimate the vehicle speed by the measured wheel speed. However, typically at low friction surface, all wheels tend to spin therefore no reference wheel can be easily selected. In this case, certain forms of vehicle acceleration and engine or motor torque could be used instead. 

The main work expected here is the state estimation method including vehicle models which can be generally applied for vehicle speed estimation at different driving scenarios, as well as road conditions. This will include starting from standstill, straight up acceleration/deceleration, oversteer/understeer in a turn, at the roads with banking and inclination angles. Hence any contamination from the road loads will also be considered. The robustness and real-time computation capabilities will also be evaluated and improved, using virtual simulation and rapid-prototype vehicle testing environment. 
The work also includes the basic signal processing method regarding off-set compensation of certain measured signals, ahead of applying in the model for speed estimation 
The thesis work will include the following parts: 
· Literature review across the state-of-art design methods for automotive vehicle speed estimation when all wheels are spinning, i.e. loss of traction. 
· Analyze logged data from a prototype car at low friction surface, preferably at the driving scenarios with and without intervention from the existing traction/stability control function. The data will have a reference from the high accuracy GPS system i.e. OxTS (Oxford Technical Solutions) measurement. 
· Based on the data analysis, select the best wheel spin detection and estimation concept(s) solving the challenges revealed in the data, concerning availability and quality of the sensor signals. 
· Implement the algorithm in Matlab/Simlink and testing using the given logged data, on both high and low friction surface. 
· Closed-loop verification using the CarMaker simulation environment provided by Volvo Cars. 
· Validation and development of the algorithm in a rapid-prototype test vehicle, using dSPACE Autobox, concerning the real-time capability. 

· Vehicle Dynamics and Control. Both Mechanical and Control engineering are valuable. 
· Experience with Signal Processing for vehicle application is a merit. 

· Your application should include a CV, cover letter and transcript of courses and grades 
· Selection will be ongoing during the application period. We want your application as soon as possible, but no later than 2020-11-29. Please note that due to GDPR, we can't accept applications via email.

· 20 weeks / 30 ECTS. 
· Starting date: January-February 2021 (Flexible). Estimated end date: Summer 2021 
· Number of students: 2 
· The work will be performed at the department of Vehicle Energy & Motion Control and the group of State Estimation, Volvo Cars Corporation, Göteborg 

Contact Supervisors: Derong Yang (derong.yang@volvocars.com) Fredrik Broström (fredrik.brostrom@volvocars.com) Martin Hassel (martin.hassel@volvocars.com) 
Manager: Anna Söderlund (anna.soderlund@volvocars.com) 


Who are we?

Everything we do starts with people. Our purpose is to provide freedom to move, in a personal, sustainable and safe way. We are committed to simplifying our customers’ lives by offering better technology solutions that improve their impact on the world and bringing the most advanced mobility innovations to protect them, their loved ones and the people around them. 

Volvo Cars’ continued success is the result of a collaborative, diverse, and inclusive working environment. The people of Volvo Cars are committed to making a difference in our world. Today, we are one of the most well-known and respected car brands, with over 40,000 employees across the globe. We believe in bringing out the best in each other and harnessing the true power of people. At Volvo Cars your career is designed around your talents and aspirations so you can reach your full potential. Join us on a journey of a lifetime as we create safety, autonomous driving and electrification technologies of tomorrow.

Gothenburg, Sweden

Job requisition ID:  47347
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