Desenvolupament del control d'un vehicle autònom en un entorn de simulació
This thesis has as its main objective the development of a controller for an autonomous vehicle. Among all possible control strategies, th e methodology chosen follows a linear MPC structure in order to achieve the goal. Basically a MPC tries to predict future behaviour of the vehicle and anticipate...
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| Tipo de recurso: | tesis de maestría |
| Fecha de publicación: | 2019 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/128618 |
| Acceso en línea: | https://hdl.handle.net/2117/128618 |
| Access Level: | acceso abierto |
| Palabra clave: | Simulation methods Autonomous vehicles Simulació, Mètodes de Vehicles autònoms Àrees temàtiques de la UPC::Enginyeria elèctrica |
| Sumario: | This thesis has as its main objective the development of a controller for an autonomous vehicle. Among all possible control strategies, th e methodology chosen follows a linear MPC structure in order to achieve the goal. Basically a MPC tries to predict future behaviour of the vehicle and anticipated the actions to perform smooth movements. In addition, a methodology to find a feasible speed profile was developed as it was a prior requirement to test correctly the controller. This planning for speed profile was done also by using MPC structure and does not take into account vehicle dynamics but kinematics . The procedure to evaluate the performance of the controller goes on building different scenarios and making simulations on them. Simulations have been done in MATLAB an d VI - CarRealTime. This last software is very important to achieve realistic dynamic response. The results show that the controller is a ver y valid option to consider in autonomous vehicles and has a big potential behind. Only in very extreme situations whe re the limits of the tyres are reached it present s some difficulties to operate. |
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