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master's thesis
Planiranje kretanja autonomnog vozila na temelju dostupne globalne mape
Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2018. urn:nbn:hr:200:636271
Bajić, Jure
Josip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
Department of Communications
Chair of Electronics and Microelectronics

Institutional repository: Faculty of Electrical Engineering, Computer Science and Information Technology Osijek

Cite this document

Bajić, J. (2018). Planiranje kretanja autonomnog vozila na temelju dostupne globalne mape (Master's thesis). Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek. Retrieved from https://urn.nsk.hr/urn:nbn:hr:200:636271

Bajić, Jure. "Planiranje kretanja autonomnog vozila na temelju dostupne globalne mape." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2018. https://urn.nsk.hr/urn:nbn:hr:200:636271

Bajić, Jure. "Planiranje kretanja autonomnog vozila na temelju dostupne globalne mape." Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, 2018. https://urn.nsk.hr/urn:nbn:hr:200:636271

Bajić, J. (2018). 'Planiranje kretanja autonomnog vozila na temelju dostupne globalne mape', Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, accessed 20 May 2024, https://urn.nsk.hr/urn:nbn:hr:200:636271

Bajić J. Planiranje kretanja autonomnog vozila na temelju dostupne globalne mape [Master's thesis]. Osijek: Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek; 2018 [cited 2024 May 20] Available at: https://urn.nsk.hr/urn:nbn:hr:200:636271

J. Bajić, "Planiranje kretanja autonomnog vozila na temelju dostupne globalne mape", Master's thesis, Josip Juraj Strossmayer University of Osijek, Faculty of Electrical Engineering, Computer Science and Information Technology Osijek, Osijek, 2018. Available at: https://urn.nsk.hr/urn:nbn:hr:200:636271

Metadata
TitlePlaniranje kretanja autonomnog vozila na temelju dostupne globalne mape
Title (english)Planning of autonomous vehicle movement based on the available global map
AuthorJure Bajić
MentorMarijan Herceg (mentor)
MentorDenis Vranješ (mentor)
Committee memberMarijan Herceg (predsjednik povjerenstva)
Committee memberRatko Grbić (član povjerenstva)
Committee memberMario Vranješ (član povjerenstva)
GranterJosip Juraj Strossmayer University of Osijek
Faculty of Electrical Engineering, Computer Science and Information Technology Osijek
(Department of Communications)
(Chair of Electronics and Microelectronics)
Osijek
Defense date and country2018-09-26, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Telecommunications and Informatics
Abstract
Tema rada je istraživanje i razvoj algoritma za planiranje putanje autonomnog vozila. Predstavljena su neka dosadašnja rješenja te je definirano razvojno okruženje koje je korišteno za razvoj vlastitog rješenja. Za razvoj algoritma korišten je Udacityev simulator koji simulira uvjete na brzoj cesti s tri trake. Algoritam i simulator dvosmjernom komunikacijom razmjenjuju podatke, na način da simulator predaje senzorske podatke algoritmu koji zauzvrat vraća samo koordinate vozila koje mora posjetiti u narednom vremenu. Algoritam prvo učitava dane podatke, zatim vrši transformaciju u Frenetov koordinatni sustav radi lakšeg i preciznijeg proračuna. S Frenetovim koordinatama se računaju parametri ego vozila i moguća stanja koja može zauzeti na cesti. Potom se definiraju putanje za svako od stanja i ocjenjuju s obzirom na određene kriterije i pripadne težine. Nakon definiranje konačne putanje vozila, ona se mora transformirati natrag u Kartezijev koordinatni sustav, kako bi se predala simulatoru. Evaluacijom rješenja zaključeno je kako algoritam radi kako je i zamišljeno u uvjetima simulatora, ali to nije zadovoljavajuće za stvarne uvjete na cesti koji su nepredvidivi. Simulator nije realan prikaz uvjeta na cesti budući da simulira samo brzu cestu s ostalim vozilima, bez prometnih znakova ili promjene ograničenja. Što čini i same testove nerealnim prikazom rada algoritma. Implementacija algoritma na Alpha ploču nije osposobljena zato što nije ostvarena dvosmjerna komunikacija podataka između simulatora i ploče.
Abstract (english)
The theme of the paper is the research and development of an algorithm for planning the path of an autonomous vehicle. The most important solutions so far are presented, and a development environment is defined in which the algorithm is made. For the development of the algorithm Udacity's simulator is chosen as it simulates the conditions on a fast three-track road. The algorithm and simulator communicate with the two-way communication; the simulator handles the sensor data to an algorithm that in return returns only the coordinates that the vehicle will pass in its trajectory. The algorithm loads the given data, and then transforms it into a Frenets coordinate system for easier and more precise calculation. Frenets coordinates calculate the parameters of the ego vehicle and the possible manners that can be taken on the road. Then, the paths for each of the states are defined and evaluated with respect to certain criteria and multiplied with respective weights. After defining the final path of the vehicle, it must be transformed back into the Cartesian coordinate system so that the simulator can handle the data. By evaluating the solution, it was concluded that the algorithm works as intended by the simulator, but this is not satisfactory for realistic road conditions that are unpredictable. The simulator is not a realistic view of road conditions since it only simulates a fast road with other vehicles, with no traffic signs or changes in constraints what makes the tests themselves unrealistic algorithm performance. The algorithm implementation on the Alpha board failed despite numerous attempts to enable communication between the simulator located on computer and the Alpha board via Ethernet.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:200:636271
Study programmeTitle: Graduate University Study Programme in Electrical Engineering; specializations in: Communications and Informatics, Power Engineering
Course: Communications and Informatics
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike (magistar/magistra inženjer/inženjerka elektrotehnike)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2018-10-04 15:54:06