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Convex Optimization-based Design of a Speed Planner for Autonomous Heavy Duty Vehicles
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
KTH, School of Engineering Sciences (SCI), Mathematics (Dept.), Optimization and Systems Theory.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesisAlternative title
Konvex optimeringsbaserad design av en hastighetsplanerare för tunga fordon (Swedish)
Abstract [en]

The objective of this master thesis is to design a speed planner for a heavy duty vehicle (HDV) that focuses on achieving a time efficient and comfortable driving, given different constraints such as road geometry, vehicle dynamics, acceleration, deceleration, speed limits etc. through an optimization based approach, namely by formulating it as a convex problem in a receding horizon fashion. The thesis begins with considering static environments and henceforth is extended to govern dynamic environments such as taking into account other vehicles and highway merging. The problem is firstly formulated as an optimal control problem and after discretization is reformulated as a Second-order Cone Program (SOCP) problem. By ensuring the convexity of the problem, the results obtained are guaranteed to be globally optimal. The speed planner is implemented in CVX, a modelling system for convex optimization in MATLAB. Results show that the speed planner algorithm yields the performances required, where the speed profiles obtained are smoother with higher weights on the smoothness objective while still retaining travel time efficiency. The algorithm is also extended to avoid dynamic obstacles and adapting the speed of the HDV to the speed of a vehicle driving in front of it.

Abstract [sv]

Målet med detta masterarbete är att designa en hastighetsplanerare för ett tungt fordon (HDV) där fokus läggs på att uppnå en tidseffektiv och bekväm färd för olika begränsningar såsom väggeometri, fordonsdynamik, acceleration, retardation, hastighetsbegränsningar etc. genom ett optimeringsbaserat tillvägagångssätt, nämligen genom att formulera det som ett konvext problem i realtid. Arbetet börjar med att hantera statiska miljöer och därefter utvidgas till att hantera dynamiska miljöer såsom att ta hänsyn till andra trafikanter och motorvägspåfart. Problemformuleringen formuleras först som ett optimalt styrproblem och efter diskretisering omformuleras som ett andra ordningens konproblem (SOCP). Genom att säkerställa problemets konvexitet, garanteras de erhållna resultaten att vara globalt optimala. Hastighetsplaneraren implementeras i CVX, ett modelleringssystem för konvex optimering i MATLAB. Resultaten visar att hastighetsplaneringsalgoritmen ger de nödvändiga prestationerna, där de erhållna hastighetsprofilerna är mer bekväma med högre komfortvikter samtidigt som körtidseffektiviteten behålls. Algoritmen utökas ytterligare till att undvika dynamiska hinder och anpassa lastbilens hastighet till hastigheten på ett fordon som kör framför.

Place, publisher, year, edition, pages
2019.
Series
TRITA-SCI-GRU ; 2019:253
National Category
Mathematics
Identifiers
URN: urn:nbn:se:kth:diva-254191OAI: oai:DiVA.org:kth-254191DiVA, id: diva2:1328900
External cooperation
Scania
Subject / course
Systems Engineering
Educational program
Master of Science - Aerospace Engineering
Supervisors
Examiners
Available from: 2019-06-24 Created: 2019-06-24 Last updated: 2019-06-24Bibliographically approved

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