MODEL-BASED SYSTEMS ENGINEERING APPLIED TO THE TRAJECTORY PLANNING FOR AUTONOMOUS VEHICLES

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dc.contributor.advisorBaras, John S.en_US
dc.contributor.authorBansal, Siddharthen_US
dc.contributor.departmentSystems Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.date.accessioned2018-07-17T06:27:34Z
dc.date.available2018-07-17T06:27:34Z
dc.date.issued2018en_US
dc.description.abstractPassing maneuver is a complex driving maneuver and it becomes more challenging in oncoming traffic. In this study, a passing scenario with three vehicles is considered where car 1, an Autonomous Vehicle (AV), is moving behind car 2 in the same lane. The third vehicle is part of the oncoming traffic in the adjacent lane. The primary goal is to model and evaluate a measurement-based decision-making strategy for the AV satisfying driving safety constraints. This strategy is based on the optimal control with the objective to performing the passing maneuver safely. To evaluate the efficiency of the decision-making strategy – probability of safely completing passing maneuver, a model of the system was developed considering all three cars as point-masses. Two binary variables, each representing the collaborative nature of the cars 2 and 3, were defined. These variables show if the two vehicles will collaborate with the AV when they find out about its intention to overtake. Lastly, a sensitivity study and trade-off study are done to determine optimal design parameters for AV’s measurement system and decision-making strategy.en_US
dc.identifierhttps://doi.org/10.13016/M2X63B84W
dc.identifier.urihttp://hdl.handle.net/1903/21044
dc.language.isoenen_US
dc.subject.pqcontrolledEngineeringen_US
dc.subject.pqcontrolledAutomotive engineeringen_US
dc.subject.pqcontrolledSystems scienceen_US
dc.subject.pquncontrolledAutonomous Vehcilesen_US
dc.subject.pquncontrolledModel based systems engineeringen_US
dc.subject.pquncontrolledMonte Carloen_US
dc.subject.pquncontrolledOvertakingen_US
dc.subject.pquncontrolledPassing maneuveren_US
dc.subject.pquncontrolledSensor accuracyen_US
dc.titleMODEL-BASED SYSTEMS ENGINEERING APPLIED TO THE TRAJECTORY PLANNING FOR AUTONOMOUS VEHICLESen_US
dc.typeThesisen_US

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