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Trajectory Planning for Four WheelSteering Autonomous Vehicle
KTH, School of Engineering Sciences (SCI), Aeronautical and Vehicle Engineering, Vehicle Dynamics.
2018 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis work presents a model predictive control (MPC) based trajectory planner forhigh speed lane change and low speed parking scenarios of autonomous four wheel steering(4WS) vehicle. A four wheel steering vehicle has better low speed maneuverabilityand high speed stability compared with normal front wheel steering(FWS) vehicles. TheMPC optimal trajectory planner is formulated in a curvilinear coordinate frame (Frenetframe) minimizing the lateral deviation, heading error and velocity error in a kinematicdouble track model of a four wheel steering vehicle. Using the proposed trajectory planner,simulations show that a four wheel steering vehicle is able to track different type ofpath with lower lateral deviations, less heading error and shorter longitudinal distance.

Abstract [sv]

I detta avhandlingsarbete presenteras en modellbaserad prediktiv kontroll (MPC) -baseradbanplaneringsplan f¨or h¨oghastighetsbanan och l°aghastighetsparametrar f¨or autonomtfyrhjulsdrift (4WS). Ett fyrhjulsdrivna fordon har b¨attre man¨ovrerbarhet med l°ag hastighetoch h¨oghastighetsstabilitet j¨amf¨ort med vanliga fr¨amre hjulstyrningar (FWS). MPC-optimalbanplanerare ¨ar formulerad i en kr¨okt koordinatram (Frenet-ram) som minimerar sidof¨orl¨angningen,kursfel och hastighetsfel i en kinematisk dubbelsp°armodell av ett fyrhjulsstyrda fordon.Med hj¨alp av den f¨oreslagna banaplaneraren visar simuleringar att ett fyrhjulsstyrfordonkan sp°ara olika typer av banor med l¨agre sidof¨orl¨angningar, mindre kursfel ochkortare l¨angsg°aende avst°and.

Place, publisher, year, edition, pages
2018. , p. 42
Series
TRITA-SCI-GRU ; 2018:329
Keywords [en]
trajectory planning, frenet frame, MPC, 4WS
Keywords [sv]
banplanering, Frenet-ram, MPC, 4WS ii
National Category
Vehicle Engineering
Identifiers
URN: urn:nbn:se:kth:diva-243287OAI: oai:DiVA.org:kth-243287DiVA, id: diva2:1285536
Examiners
Available from: 2019-02-04 Created: 2019-02-04 Last updated: 2019-02-04Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
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