Safe Coordination of Autonomous Vehicles

As more and more autonomous vehicles enter our road, new mechanisms must be considered to ensure the safe coordination between the autonomous vehicles. Al- though many algorithms have been proposed to coordinate autonomous vehicles, few of them have considered the robustness of the solution against...

ver descrição completa

Detalhes bibliográficos
Autor: Requena Gallego, José
Tipo de documento: dissertação
Data de publicação:2022
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositório:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglês
OAI Identifier:oai:upcommons.upc.edu:2117/374277
Acesso em linha:https://hdl.handle.net/2117/374277
Access Level:Acceso aberto
Palavra-chave:Automated vehicles
Autonomous vehicles
Vehicle coordination
Tube-based MPC
LPV modelling
H∞-optimal control
Vehicles autònoms
Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles::Automòbils
id ES_46a2e8cd1587fcad48ddc3a6710b8f6e
oai_identifier_str oai:upcommons.upc.edu:2117/374277
network_acronym_str ES
network_name_str España
repository_id_str
spelling Safe Coordination of Autonomous VehiclesRequena Gallego, JoséAutomated vehiclesAutonomous vehiclesVehicle coordinationTube-based MPCLPV modellingH∞-optimal controlVehicles autònomsÀrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles::AutomòbilsAs more and more autonomous vehicles enter our road, new mechanisms must be considered to ensure the safe coordination between the autonomous vehicles. Al- though many algorithms have been proposed to coordinate autonomous vehicles, few of them have considered the robustness of the solution against disturbances. Therefore, in this master’s thesis, a vehicle coordination algorithm that uses vehicle to vehicle (V2V) communication is design in order to achieve collision free trajectories, while rejecting disturbances. Specifically, a robust tube-based model predictive control (MPC) scheme is proposed in order to control the autonomous vehicle. This controller uses series of zonotopic reachable sets (also known as tube) to compute a set of state and input constraints, which ensure the robust feasibility of the problem. To reduce the computational burden of the MPC opti- mization problem, the vehicle model is reformulated into a pseudo-linear model by transforming its non-linear equations into the linear parameter varying (LPV) form. The disturbance rejection is performed by a H∞-optimal corrective con- troller. Finally, the collision avoidance is achieved by a V2V coordination algo- rithm, in which the lateral bounds of a collision free path are computed. To validate the proposed control scheme, a series of simulations have been performed to test the disturbance rejection of the corrective controller, as well as the vehicle coordination capabilities. The results from these tests show that the proposed controller is effective in coordinating a multiple overtaking maneuver, while rejecting the disturbances.Universitat Politècnica de CatalunyaPuig Cayuela, Vicenç20222022-09-1220222022-10-11master thesishttp://purl.org/coar/resource_type/c_bdccNAhttp://purl.org/coar/version/c_be7fb7dd8ff6fe43info:eu-repo/semantics/masterThesisapplication/pdfhttps://hdl.handle.net/2117/374277reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2http://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/3742772026-05-27T15:37:01Z
dc.title.none.fl_str_mv Safe Coordination of Autonomous Vehicles
title Safe Coordination of Autonomous Vehicles
spellingShingle Safe Coordination of Autonomous Vehicles
Requena Gallego, José
Automated vehicles
Autonomous vehicles
Vehicle coordination
Tube-based MPC
LPV modelling
H∞-optimal control
Vehicles autònoms
Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles::Automòbils
title_short Safe Coordination of Autonomous Vehicles
title_full Safe Coordination of Autonomous Vehicles
title_fullStr Safe Coordination of Autonomous Vehicles
title_full_unstemmed Safe Coordination of Autonomous Vehicles
title_sort Safe Coordination of Autonomous Vehicles
dc.creator.none.fl_str_mv Requena Gallego, José
author Requena Gallego, José
author_facet Requena Gallego, José
author_role author
dc.contributor.none.fl_str_mv Puig Cayuela, Vicenç
dc.subject.none.fl_str_mv Automated vehicles
Autonomous vehicles
Vehicle coordination
Tube-based MPC
LPV modelling
H∞-optimal control
Vehicles autònoms
Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles::Automòbils
topic Automated vehicles
Autonomous vehicles
Vehicle coordination
Tube-based MPC
LPV modelling
H∞-optimal control
Vehicles autònoms
Àrees temàtiques de la UPC::Enginyeria mecànica::Disseny i construcció de vehicles::Automòbils
description As more and more autonomous vehicles enter our road, new mechanisms must be considered to ensure the safe coordination between the autonomous vehicles. Al- though many algorithms have been proposed to coordinate autonomous vehicles, few of them have considered the robustness of the solution against disturbances. Therefore, in this master’s thesis, a vehicle coordination algorithm that uses vehicle to vehicle (V2V) communication is design in order to achieve collision free trajectories, while rejecting disturbances. Specifically, a robust tube-based model predictive control (MPC) scheme is proposed in order to control the autonomous vehicle. This controller uses series of zonotopic reachable sets (also known as tube) to compute a set of state and input constraints, which ensure the robust feasibility of the problem. To reduce the computational burden of the MPC opti- mization problem, the vehicle model is reformulated into a pseudo-linear model by transforming its non-linear equations into the linear parameter varying (LPV) form. The disturbance rejection is performed by a H∞-optimal corrective con- troller. Finally, the collision avoidance is achieved by a V2V coordination algo- rithm, in which the lateral bounds of a collision free path are computed. To validate the proposed control scheme, a series of simulations have been performed to test the disturbance rejection of the corrective controller, as well as the vehicle coordination capabilities. The results from these tests show that the proposed controller is effective in coordinating a multiple overtaking maneuver, while rejecting the disturbances.
publishDate 2022
dc.date.none.fl_str_mv 2022
2022-09-12
2022
2022-10-11
dc.type.none.fl_str_mv master thesis
http://purl.org/coar/resource_type/c_bdcc
NA
http://purl.org/coar/version/c_be7fb7dd8ff6fe43
dc.type.openaire.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/374277
url https://hdl.handle.net/2117/374277
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2

http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv Universitat Politècnica de Catalunya
publisher.none.fl_str_mv Universitat Politècnica de Catalunya
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
_version_ 1869407241310830592
score 15,300719

Registros relacionados