# Master thesis presentation

Oskar Larsson: The Oskillator Artificial Force Field Highway Chauffeur. An Algorithm for Autonomous Driving on Highways

Examiner: Alexei Heintz

Abstract: The subject of this thesis has been to develop a module for combined behavior and trajectory planning based on artificial force fields for autonomous driving on highways. Given a desired velocity and headway time as driver input, a range of acceptable lanes as route input, and enough information about the host, the road and other road-users, it determines an appropriate acceleration vector in the world coordinate system for each point in time, to drive the car safely and comfortably on highways.

The algorithm consists of calculating a longitudinal acceleration, \textit{along the road}, by considering the desired velocity, properties of the vehicles ahead, such as distance, velocity and acceleration, and the curvature of the road ahead. The lateral acceleration, \textit{across the road}, is then calculated by considering the road curvature, the acceptable lanes and the other cars on the road. The thesis has been focused on finding a set of \textit{force components} to achieve the different behaviors, e.g. the Lane Component to center in lane, the Trail Component to slow down to a vehicle in front, etc., and a way of composing the components, with an analytically determined damping, to achieve an acceleration that is feasible, safe and comfortable. The output acceleration is continuous with respect to all inputs.