Autonomous driving technology has advanced significantly in recent years, facilitating its widespread use in the automotive industry. An autonomous driving system consists of a variety of modules, including perception, localization, planning, and control. Regarding the control layer, one of the most challenging tasks is the development of leader-following control algorithms. Leader-following autonomous driving involves tracking and following the leader vehicle's trajectory and speed profile and has the potential to improve safety, traffic efficiency, and passenger comfort. This Thesis is addressed to the development of the longitudinal and lateral controllers for a leader-following autonomous vehicle. The proposed longitudinal controller is in charge of handling the speed of the autonomous vehicle and its distance from the leader vehicle. On the other hand, the lateral controller deals with the tracking of the trajectory described by the leader vehicle. Aiming at developing such controllers, an identification phase was carried out, where the parameters related to the lateral and longitudinal vehicle dynamics have been identified. Moreover, this Thesis details a path planning strategy which accurately reconstructs the leader's trajectory. In conclusion, simulations and on-track tests are conducted to validate the effectiveness of the controllers and the trajectory reconstruction algorithm. The results of these experiments demonstrates the robustness and accuracy of the proposed control strategies, as well as a correct reconstruction of the leader trajectory.
La guida autonoma ha subito notevoli avanzamenti negli ultimi anni, rendendola una tecnologia sempre più diffusa e utilizzata nel settore automobilistico. I sistemi di guida autonoma sono costituiti da vari moduli, tra cui percezione, localizzazione, pianificazione e controllo. Nell'ambito del controllo, una delle maggiori sfide è lo sviluppo di algoritmi per la guida autonoma di tipo leader-following. La guida autonoma di tipo leader-following consiste nel seguire la traiettoria e il profilo di velocità del veicolo leader e ha il potenziale per migliorare la sicurezza, l’efficienza del traffico e il comfort dei passeggeri. Questa Tesi si concentra sullo sviluppo dei controllori longitudinali e laterali per un veicolo autonomo leader-following. Il controllore longitudinale proposto in questa Tesi è in grado di regolare la velocità del veicolo autonomo e la sua distanza dal veicolo leader. Il controllore laterale, invece, si occupa dell'inseguimento della traiettoria del veicolo leader. Per lo sviluppo dei controllori verrà svolto un approfondito processo di identificazione del veicolo, in particolare, verranno identificati e validati i parametri relativi alla dinamica laterale e longitudinale del veicolo. Inoltre, questa Tesi descrive una strategia di pianificazione del percorso che ricostruisce accuratamente la traiettoria del veicolo leader. Infine, verranno eseguiti test su pista e simulazioni per validare l'efficacia dei controllori e dell'algoritmo di ricostruzione della traiettoria del leader. I risultati dimostrano la robustezza e l'accuratezza delle strategie di controllo proposte e la corretta ricostruzione della traiettoria del veicolo leader.
Design of the longitudinal and lateral control systems for a leader-following autonomous vehicle
Polenta, Federico
2022/2023
Abstract
Autonomous driving technology has advanced significantly in recent years, facilitating its widespread use in the automotive industry. An autonomous driving system consists of a variety of modules, including perception, localization, planning, and control. Regarding the control layer, one of the most challenging tasks is the development of leader-following control algorithms. Leader-following autonomous driving involves tracking and following the leader vehicle's trajectory and speed profile and has the potential to improve safety, traffic efficiency, and passenger comfort. This Thesis is addressed to the development of the longitudinal and lateral controllers for a leader-following autonomous vehicle. The proposed longitudinal controller is in charge of handling the speed of the autonomous vehicle and its distance from the leader vehicle. On the other hand, the lateral controller deals with the tracking of the trajectory described by the leader vehicle. Aiming at developing such controllers, an identification phase was carried out, where the parameters related to the lateral and longitudinal vehicle dynamics have been identified. Moreover, this Thesis details a path planning strategy which accurately reconstructs the leader's trajectory. In conclusion, simulations and on-track tests are conducted to validate the effectiveness of the controllers and the trajectory reconstruction algorithm. The results of these experiments demonstrates the robustness and accuracy of the proposed control strategies, as well as a correct reconstruction of the leader trajectory.| File | Dimensione | Formato | |
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Executive_Summary_Federico_Polenta.pdf
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Descrizione: Executive Summary
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4.54 MB
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Thesis_Federico_Polenta.pdf
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Descrizione: Thesis
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67.75 MB
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67.75 MB | Adobe PDF | Visualizza/Apri |
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https://hdl.handle.net/10589/211377