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    • Trabajos Fin de Máster ETSIIT - TIIGMET Master Amaierako Lanak
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    Design and implementation of a model predictive control algorithm for trajectory planning vehicle environment

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    Leyre_Tardío_Master_Thesis_MPC.pdf (12.67Mb)
    Date
    2016
    Author
    Tardío Martos, Leyre 
    Advisor
    López Taberna, Jesús 
    Nolte, Marcus 
    Version
    Acceso abierto / Sarbide irekia
    Type
    Trabajo Fin de Máster/Master Amaierako Lana
    Impact
     
     nodoi-noplumx
     
     
     
     
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    Abstract
    Driver assistance systems and automate driving functions are being developed and implemented on vehicles in order to improve safety and comfort. Trajectory planning is a cornerstone in this field because it is the gateway for all the decisions related to motion of the car and the safety of the vehicle relies on those decisions. In the present master thesis an algorithm for trajectory planning ... [++]
    Driver assistance systems and automate driving functions are being developed and implemented on vehicles in order to improve safety and comfort. Trajectory planning is a cornerstone in this field because it is the gateway for all the decisions related to motion of the car and the safety of the vehicle relies on those decisions. In the present master thesis an algorithm for trajectory planning in dynamic environments is proposed in a model predictive control framework. A linear, varying parameter model is used to simulate the vehicle behavior. It is assumed that a reference trajectory through the static environment, which may not be obstacle-free, is known in advance. The evolution of the dynamic environment and its uncertainty for a determined prediction horizon are estimated based on initial data of the position, orientation and velocity of the obstacles. Taking into account all this information, an optimization problem is formulated whose goal is to generate a collision-free trajectory for the current horizon. This problem is periodically reformulated and fed with new data as new prediction horizons are considered and the desired trajectory is recalculated subject to the new varying environment restrictions. [--]
    Subject
    Driver assistance systems, Trajectory planning, Automate driving, Dynamic vehicle environments
     
    Degree
    Máster Universitario en Ingeniería Industrial por la Universidad Pública de Navarra / Nafarroako Unibertsitate Publikoko Unibertsitate Masterra Industria Ingeniaritzan
     
    URI
    https://hdl.handle.net/2454/22897
    Appears in Collections
    • Trabajos Fin de Máster ETSIIT - TIIGMET Master Amaierako Lanak [343]
    • Trabajos Fin de Máster - Master Amaierako Lanak [1635]
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