Nonlinear Optimal Control of Automated Vehicles in a Connected Environment
MetadataShow full item record
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.
Cite this version of the work
Derrick Tan (2019). Nonlinear Optimal Control of Automated Vehicles in a Connected Environment. UWSpace. http://hdl.handle.net/10012/15041
Showing items related by title, author, creator and subject.
Development of an Integrated Control Strategy Consisting of an Advanced Torque Vectoring Controller and a Genetic Fuzzy Active Steering Controller Jalali, Kiumars; Uchida, Thomas; McPhee, John; Lambert, Steve (SAE International, 2013-04-08)The optimum driving dynamics can be achieved only when the tire forces on all four wheels and in all three coordinate directions are monitored and controlled precisely. This advanced level of control is possible only when ...
Unified power flow controller, modeling, stability analysis, control strategy and control system design Sreenivasachar, Kannan (University of Waterloo, 2001)
A New Control Strategy for Coordinated Control of Ground Vehicle Vertical Dynamics via Control Allocation Binder, Michael Karl (University of Waterloo, 2014-08-08)The scope of this thesis concerns the basic research and development of a coordinated control system for the control of vehicle roll and pitch dynamics using suspension forces as actuators. In this thesis, the following ...