A comparison of model predictive control and curve interpolation using smoothing splines in convex optimization
Presented by Dandan Ge and Anders Hjelmström Sarvik, MPSYS
In this thesis, two algorithms to generate a longitudinal trajectory suitable for a lane change during highway driving are developed and evaluated. One of the algorithms uses the Model predictive control framework to minimize the acceleration and deviation from the desired position while fulfilling physical and design constraints. The other algorithm uses optimal interpolating B-splines to generate a velocity profile. Both methods work in a receding horizon context which solves an optimization problem in each time instant. It is shown in simulations that both algorithms successfully generates trajectories suitable for a lane change.
Examiner: Jonas Fredriksson
Student project presentation
Landahlsrummet (room 7430), Hörsalsvägen 11, 7th floor
14 June, 2018, 09:00
14 June, 2018, 10:00