Change search
ReferencesLink to record
Permanent link

Direct link
Model Predictive Control for Autonomous Driving of Over-Actuated Research Vehicle
KTH, School of Electrical Engineering (EES).
2016 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [sv]

Ända sedan personfordon blev tillgängliga för allmänheten, har trafikolyckor varit vanliga. För att motverka den här trenden talas det mer och mer om kolonnkörning och sammarbete mellan kommunicerande fordon, vilket kan komma att öka kapaciteten på vägarna samt minska utsläpp av växthusgaser. Grand Cooperative Driving Challenge (GCDC) är en tävling som hölls i Maj 2016 i Nederländerna, med fokus på den här sortens funktionalitet. Kungliga tekniska högskolan, KTH, deltog med sin research concept vehicle och tävlade mot andra Europeiska universitet.

Syftet med detta examensarbete var att designa och implementera longitudinell och lateral reglering av fordonet i.e reglering av vridmoment och styrvinklar för att få fordonet att följa en referens. Denna funktionalitet gjorde att fordonet kunde framföras helt autonomt och möjliggjorde deltagande i alla tävlingsmoment.

Den laterala regulatorn blev aldrig implementerad och testad på RCV, utan presenteras istället i form av simuleringsresultat. Resultaten presenterar regulatorns prestanda i flera signifikanta scenarion ssom filbyte, korrigering av lateralt fel genom krabbstyrning, i.e sidledsförflyttning.

Den longitudinella regulatorn implementerades och testades i bilen och uppnådde statiskt fel nära 0 både i relativ hastighet och avstånd till framförvarande fordon. Fordonet reagerade som förväntat när den tvingades bromsa hastigt för att undvika kollision med framförvarande fordon, samt när målfordonet ändrades under gång.

Abstract [en]

Since automobiles became available to everyone, road traffic and traffic accidents became common. To fight this trend, platooning and cooperative driving are more and more talked about. It helps increase the traffic capacity of roads and decreases greenhouse gas emissions. The grand cooperative driving challenge, GCDC, is a competition that was held May 2016 in the Netherlands focusing on this type of driving.The Royal Institute of Technology, KTH, participated in the competition with the research concept vehicle competing against other teams from differ-ent universities of Europe.The objective of this thesis is to design and implement longitudinal and lateral control on the research concept vehicle, i.e., motor control by torque request and steering control by wheel angle request. Which makes it possible to enter the competition with a fully autonomous vehicle and participate in the three different scenarios.The lateral controller, is not implemented and tested in the RCV, but it is still simulated, where the capabilities of the controller, such as, for example, lane changing and error correction using crabbing, i.e., sideways motion, are presented.The longitudinal controller is fully implemented and tested, obtaining static errors very close to 0 in both velocity and distance to the front vehicle. The vehicle behaved as expected when it had to brake fast due to the front vehicle and it always kept more than the considered safety distance, this is rapidly corrected, to the right value, as soon as the front vehicle stops decelerating. It also behaved as expected, when the target being followed changes, i.e., when there is a jump in the distance being followed and it becomes small (0m), it decelerated smoothly and recovered the safety distance.

Place, publisher, year, edition, pages
2016. , 71 p.
Series
EES Examensarbete / Master Thesis, TRITA EE 2016:118
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:kth:diva-195028OAI: oai:DiVA.org:kth-195028DiVA: diva2:1043944
Examiners
Available from: 2016-11-01 Created: 2016-11-01 Last updated: 2016-11-15Bibliographically approved

Open Access in DiVA

fulltext(10910 kB)14 downloads
File information
File name FULLTEXT01.pdfFile size 10910 kBChecksum SHA-512
6a17266518f9e156e658c1ffdb5848e63b7647dd356d8aa788ac197e3a7439aa48b647e5b24ce43e872e56e24f33a5f50aa112ac647a1d5a0380523e438f6037
Type fulltextMimetype application/pdf

By organisation
School of Electrical Engineering (EES)
Electrical Engineering, Electronic Engineering, Information Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 14 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

Total: 10 hits
ReferencesLink to record
Permanent link

Direct link