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.


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    Title :

    Desenvolupament del control d'un vehicle autònom en un entorn de simulació



    Publication date :

    2019-01-17


    Type of media :

    Theses


    Type of material :

    Electronic Resource


    Language :

    English



    Classification :

    DDC:    629




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