This thesis focuses on the scenario where a lane change must be made on a highway in order to be able to take an exit. This requires decision making on the discrete action for selecting a target lane and calculations of smooth path for each action. The proposed solution structure is divided in three parts; analyzing the situation, planning the motion for each possible action and comparing the calculated paths in order to choose the best one. This is done in a model predictive control framework where at each time two actions are evaluated; to stay in the current lane or to change into the adjacent lane. Simulations are performed in Matlab. The simulations show that the proposed controller is good at generating smooth paths and making decisions based on the current traffic situation. The implemented controller also proved to be fast enough for a real time implementation in an actual vehicle.
Examiner: Nikolce Murgovski
Student project presentation
Blå rummet (room 6414), Hörsalsvägen 11, 6th floor
14 June, 2018, 09:00
14 June, 2018, 10:00