Nonlinear Optimal Control of Automated Vehicles in a Connected Environment
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Date
2019-09-12
Authors
Tan, Derrick
Journal Title
Journal ISSN
Volume Title
Publisher
University of Waterloo
Abstract
This thesis is based around the University of Waterloo EcoCAR Team (UWAFT)
and the EcoCAR Mobility Challenge. The overall objective of the competition
is to design and build a hybrid electric vehicle with SAE Level 2 Autonomous
capability. The vehicle platform used in this thesis was based on the 2019
Chevrolet Blazer – the vehicle that General Motors has donated to UWAFT as
part of the EcoCAR Mobility Challenge.
The scope and objective of this thesis is comprised of three parts:
First, various vehicle models were considered and developed using MATLAB
and Simulink, as well as ADAMS Car. These models were developed and used
for the simulation of the vehicle as well as for the development of vehicle
dynamics controllers.
Second, various control architectures and strategies were developed and
evaluated to understand the benefits and limitations of each controller design
under varying situations. Controllers for generating viable and optimal paths,
as well as controllers for controlling the vehicle to track a path were
developed.
Third, a visualization framework was developed for streamlining the
development of connected and automated vehicle (CAV) systems. Simulation
environments for these models were also developed in Simulink (visualized
using the Unreal Engine) as well as using ADAMS Car.
Description
Keywords
nonlinear mpc, mpc, model predictive control, nonlinear, control system, vehicle dynamics, vehicle modelling, path planning, nonlinear control, linear control, bicycle model, adams car, planar dynamics, ecocar, matlab, chevrolet blazer, general motors, connected and automated vehicles, regulation, optimal control