dc.contributor |
Universitat Politècnica de Catalunya. Departament d'Enginyeria Elèctrica |
dc.contributor |
Dòria Cerezo, Arnau |
dc.contributor.author |
Cartró Benavides, Jaime |
dc.date |
2019-01-17 |
dc.identifier.citation |
ETSEIB-240.139578 |
dc.identifier.uri |
http://hdl.handle.net/2117/128618 |
dc.language.iso |
eng |
dc.publisher |
Universitat Politècnica de Catalunya |
dc.rights |
info:eu-repo/semantics/openAccess |
dc.rights |
http://creativecommons.org/licenses/by-nc-nd/3.0/es/ |
dc.subject |
Àrees temàtiques de la UPC::Enginyeria elèctrica |
dc.subject |
Simulation methods |
dc.subject |
Autonomous vehicles |
dc.subject |
Simulació, Mètodes de |
dc.subject |
Vehicles autònoms |
dc.title |
Desenvolupament del control d'un vehicle autònom en un entorn de simulació |
dc.type |
info:eu-repo/semantics/masterThesis |
dc.description.abstract |
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. |