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Igenkänning av filbyte och undvikande av kollision i KTH PlatoonSim
KTH, School of Engineering Sciences (SCI).
2019 (Swedish)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesisAlternative title
Detection of a Cut-in Scenario and Collision Avoidance in KTH PlatoonSim (English)
Abstract [sv]

Målet med detta projekt var att designa en algoritm som känner igen ett osäkert filbyte och som kan undvika kollision inom KTH PlatoonSim, som är en simulator för autonoma fordon utvecklad på KTH. Lösningen som föreslås är införandet av två nya styrenhetsklasser: En Cut-in Detector (CID) och en Cut-in Braker(CIB). CID ansvarar för att upptäcka osäkra filbyten och CIB ansvarar för att beräkna det bromskommando som behövs för att bromsa på ett säkert, men mjukt sätt. De test som genomförts visar att denna model är framgångsrik i att undvika kollision vid vanliga motorvägsfarter.

Abstract [en]

The goal of this project was the design of an algorithm for detection of an unsafe lane change (cut-in) and the avoidance of a collision within KTH PlatoonSim, a simulator of autonomous vehicles developed at KTH. The solution proposed is the introduction of two new ECU classes: A Cut-in Detector (CID) and a Cut-in Braker (CIB). The CID is responsible for detecting an unsafe lane change and the CIB is responsible for calculating the necessary brake command for safe but smooth braking. Testing reveals that this model is successful at avoiding collision at ordinary motorway speeds.

Place, publisher, year, edition, pages
2019.
Series
TRITA-SCI-GRU ; 2019:122
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-255852OAI: oai:DiVA.org:kth-255852DiVA, id: diva2:1342449
Supervisors
Examiners
Available from: 2019-08-13 Created: 2019-08-13 Last updated: 2019-08-13Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
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More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
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  • asciidoc
  • rtf