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3D Visualization of MPC-based Algorithms for Autonomous Vehicles
Linköping University, Department of Electrical Engineering, Vehicular Systems.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

The area of autonomous vehicles is an interesting research topic, which is popular in both research and industry worldwide. Linköping university is no exception and some of their research is based on using Model Predictive Control (MPC) for autonomous vehicles. They are using MPC to plan a path and control the autonomous vehicles. Additionally, they are using different methods (for example deep learning or likelihood) to calculate collision probabilities for the obstacles. These are very complex algorithms, and it is not always easy to see how they work. Therefore, it is interesting to study if a visualization tool, where the algorithms are presented in a three-dimensional way, can be useful in understanding them, and if it can be useful in the development of the algorithms. 

This project has consisted of implementing such a visualization tool, and evaluating it. This has been done by implementing a visualization using a 3D library, and then evaluating it both analytically and empirically. The evaluation showed positive results, where the proposed tool is shown to be helpful when developing algorithms for autonomous vehicles, but also showing that some aspects of the algorithm still would need more research on how they could be implemented. This concerns the neural networks, which was shown to be difficult to visualize, especially given the available data. It was found that more information about the internal variables in the network would be needed to make a better visualization of them.

Place, publisher, year, edition, pages
2019. , p. 38
Keywords [en]
visualization, 3d, autonomous vehicles, mpc, deep learning
National Category
Computer Systems
Identifiers
URN: urn:nbn:se:liu:diva-157380ISRN: LiTH-ISY-EX--19/5210--SEOAI: oai:DiVA.org:liu-157380DiVA, id: diva2:1322670
Subject / course
Computer Engineering
Presentation
2019-06-04, Systemet, Linköping University, 581 83 Linköping, 13:15 (English)
Supervisors
Examiners
Available from: 2019-06-11 Created: 2019-06-11 Last updated: 2019-06-11Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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Output format
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