ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-04132022-191137


Tipo di tesi
Tesi di laurea magistrale
Autore
GRILLO, WALTER
URN
etd-04132022-191137
Titolo
Analysis of Model Predictive Control in Autonomous Driving
Dipartimento
INGEGNERIA DELL'INFORMAZIONE
Corso di studi
EMBEDDED COMPUTING SYSTEMS
Relatori
relatore Prof.ssa Bernardeschi, Cinzia
relatore Prof. Domenici, Andrea
relatore Dott. Palmieri, Maurizio
Parole chiave
  • FMI Standard
  • Co-Simulation
  • Autonomous Driving Systems
  • Model Predictive Control
Data inizio appello
29/04/2022
Consultabilità
Non consultabile
Data di rilascio
29/04/2025
Riassunto
Autonomous driving has evolved considerably over the years. There are many sectors interested in its development due to the achievable benefits like reduction in traffic deaths, increased lane capacity, improvement in fuel economy. Various technologies have already been put in place to test and verify the reliability and safety of an autonomous vehicle, starting from a simplified model in which the driver is still part of the system up to a completely autonomous model that manages to cooperate with the environment.
This thesis is focused on the simulation of autonomous vehicles, based on the concept of co-simulation. In the thesis, a tool has been designed and implemented to automatically generate FMUs, critical components of co-simulation architecture complying with the FMI standard. The tool has been validated by simulating a case study involving a self-driving vehicle in various scenarios, controlled by an MPC algorithm.
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