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CRITICAL ZONE CALCULATION FOR AUTOMATED VEHICLES USING MODEL PREDICTIVE CONTROL

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posted on 2023-05-31, 12:39 authored by Enimini Theresa ObotEnimini Theresa Obot

 This thesis studies critical zones of automated vehicles. The goal is for the automated vehicle to complete a car-following or lane change maneuver without collision. For instance, the automated vehicle should be able to indicate its interest in changing lanes and plan how the maneuver will occur by using model predictive control theory, in addition to the autonomous vehicle toolbox in Matlab. A test bench (that includes a scenario creator, motion logic and planner, sensors, and radars) is created and used to calculate the parameters of a critical zone. After a trajectory has been planned, the automated vehicle then attempts the car following or lane change while constantly ensuring its safety to continue on this path. If at any point, the lead vehicle brakes or a trailing vehicle accelerates, the automated vehicle makes the decision to either brake, accelerate, or abandon the lane change. 

History

Degree Type

  • Master of Science in Electrical and Computer Engineering

Department

  • Electrical and Computer Engineering

Campus location

  • Indianapolis

Advisor/Supervisor/Committee Chair

Dr. Lingxi Li

Additional Committee Member 2

Dr. Brian King

Additional Committee Member 3

Dr. Yaobin Chen

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