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master's thesis
Projektiranje sustava autonomne vožnje u Matlab/simulink okruženju
Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. urn:nbn:hr:168:518457
Radas, Jere
University of Zagreb
Faculty of Electrical Engineering and Computing

Institutional repository: FER Repository

Cite this document

Radas, J. (2020). Projektiranje sustava autonomne vožnje u Matlab/simulink okruženju (Master's thesis). Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing. Retrieved from https://urn.nsk.hr/urn:nbn:hr:168:518457

Radas, Jere. "Projektiranje sustava autonomne vožnje u Matlab/simulink okruženju." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:518457

Radas, Jere. "Projektiranje sustava autonomne vožnje u Matlab/simulink okruženju." Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, 2020. https://urn.nsk.hr/urn:nbn:hr:168:518457

Radas, J. (2020). 'Projektiranje sustava autonomne vožnje u Matlab/simulink okruženju', Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, accessed 14 November 2024, https://urn.nsk.hr/urn:nbn:hr:168:518457

Radas J. Projektiranje sustava autonomne vožnje u Matlab/simulink okruženju [Master's thesis]. Zagreb: University of Zagreb, Faculty of Electrical Engineering and Computing; 2020 [cited 2024 November 14] Available at: https://urn.nsk.hr/urn:nbn:hr:168:518457

J. Radas, "Projektiranje sustava autonomne vožnje u Matlab/simulink okruženju", Master's thesis, University of Zagreb, Faculty of Electrical Engineering and Computing, Zagreb, 2020. Available at: https://urn.nsk.hr/urn:nbn:hr:168:518457

Metadata
TitleProjektiranje sustava autonomne vožnje u Matlab/simulink okruženju
Title (english)Design of autonomous driving system in Matlab/simulink environment
AuthorJere Radas
MentorJadranko Matuško (mentor)
Committee memberJadranko Matuško (predsjednik povjerenstva)
Committee memberŠandor Ileš (član povjerenstva)
Committee memberŽeljko Jakopović (član povjerenstva)
GranterUniversity of Zagreb
Faculty of Electrical Engineering and Computing
Zagreb
Defense date and country2020-07-10, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Electrical Engineering
Abstract
Autonomna vozila imaju potencijala promijeniti način mobilnosti i transporta u svijetu. Zbog današnje važnosti transporta, ova se tehnologija postavlja na sami vrh pokretača nove industrijske revolucije, što je također čini poželjnom temom za akademski rad. U ovom radu projektiran je sustav praćenja trajektorije za autonomna vozila u Matlab/ Simulink programskom okruženju. Model autonomnog vozila sastoji se od dva dijela: model lateralne i model longitudinalne dinamike. Za svaki dio sintetiziran je odgovarajući sustav upravljanja, odnosno za model lateralne dinamike modelsko prediktivni regulator, a za model longitudinalne dinamike postavljeno je upravljanje u otvorenoj petlji. Modelsko prediktivno upravljanje jaka je optimizacijska strategija upravljanja koja, zbog svojih mogućnosti rješavanja željenog optimizacijskog problema uz postavljena ograničenja nad veličinama sustava, predstavlja jednu od naprednijih modernih metoda upravljanja. Osim vozila, u Matlab okruženju scenarij vožnje sastoji se od ceste po kojoj vozilo vozi i postavljenog senzora kamere koji očitava podatke ceste koji su preoblikovani u reference za odgovarajući regulator. Posljednji dio rada demonstrira funkcionalnost predloženog rješenja i komentira kojim bi se postupcima rad mogao unaprijediti.
Abstract (english)
Autonomous vehicle have the potencial to change the ways of mobility and transportation in the world. Because of today's transportation importance, this technology is placed on the top of initiators of a new industry revolution. This makes this area of technology desirable as a master's thesis. In this thesis, a control system for trajectory tracking that replicates a behavior of an autonomous vehicle is designed in Matlab/Simulink program enviroment . The model of the autonomous vehicle consists of two parts: a model of lateral dynamics and a model of longitudinal dynamics. For the model of lateral dynamics a model predictive controller has been designed and for the model of longitudinal dynamics an open loop system has been set. Model predictive control is a strong optimization control strategy which, because of it's possibilities of solving a desired optimization problem within set limitations, represents one of the most advanced modern control methods. Beside the vehicle, in the Matlab enviroment, the driving scenario consists of a road on which the vehicle is driving and a sensor, placed on the vehicle, that reports data interpreted as a reference for the corresponding controller. Last part of the thesis demonstrates the obtained results and comments with what actions could the autonomous driving system be improved.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:168:518457
Study programmeTitle: Electrical Engineering and Information Technology
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
Type of resourceText
File originBorn digital
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Created on2023-01-13 13:37:55