ETD

Archivio digitale delle tesi discusse presso l'Università di Pisa

Tesi etd-05252020-160329


Tipo di tesi
Tesi di laurea magistrale
Autore
MALATESTA, DAVIDE
URN
etd-05252020-160329
Titolo
Trajectory optimization and control for an autonomous racing car
Dipartimento
INGEGNERIA CIVILE E INDUSTRIALE
Corso di studi
INGEGNERIA DEI VEICOLI
Relatori
relatore Prof. Gabiccini, Marco
relatore Prof. Guiggiani, Massimo
relatore Ing. Caporale, Danilo
Parole chiave
  • autonomous
  • control
  • driverless
  • trajectory
  • planning
  • lap-time simulation
  • minimum-time manoeuvring
  • optimization
  • vehicle
  • map of achievable performance
Data inizio appello
15/06/2020
Consultabilità
Non consultabile
Data di rilascio
15/06/2090
Riassunto
In this thesis some clues for trajectory planning and control of cars are presented, which take advantage of the Maps of Achievable Performance (MAPs) for a concise description of the steady state behavior of the vehicle. In the first part, a double track model with seven degrees of freedom and full Pacejka's formulation for the tires’ characteristics, is used to obtain the MAPs. Relying on MAPs, in the second part of the thesis, two methods for planning a full-lap racing path - in a first stage - and the associated speed profile - in a subsequent stage - are presented. Then, a strategy for dynamically updating the trajectory is proposed. Lastly, a feedback-feedforward controller is designed for trajectory tracking, showing excellent performances.
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