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Archivio digitale delle tesi discusse presso l’Università di Pisa

Tesi etd-03232020-171119


Tipo di tesi
Tesi di laurea magistrale
Autore
DI LUZIO, FULVIO
URN
etd-03232020-171119
Titolo
Integration of a Stochastic Model Predictive Control and an Occupancy Grid for Autonomous Driving Highway Scenario
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
INGEGNERIA ROBOTICA E DELL'AUTOMAZIONE
Relatori
relatore Prof.ssa Pallottino, Lucia
supervisore Brüdigam, Tim
Parole chiave
  • autonomous driving
  • model predictive control
  • occupancy grid
Data inizio appello
30/04/2020
Consultabilità
Completa
Riassunto
This thesis presents an integration of an Occupancy Grid with a Model Predic-
tive Control (MPC) framework for autonomous vehicles in highway scenarios. The
highway is represented as an evenly spaced field of cells. At first Stochastic MPC
(SMPC) planning considers the most likely maneuvers of other traffic participants
by assigning an occupancy probability to the cells that represent the highway. In
order the guarantee the safety and the property of recursive feasibility of the algo-
rithm, a second control is designed, called Failsafe MPC (FMPC). This one takes
into account the worst-case realization of other traffic participants. The combina-
tion of SMPC and FMPC provides an efficient, fast and feasible algorithm whose
results will be evaluated in a simulated environment.
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