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master's thesis
Modelsko prediktivno upravljanje autonomnim vozilom pri prilazu prometnim semaforima
Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. urn:nbn:hr:235:856838
Fain, Toni
University of Zagreb
Faculty of Mechanical Engineering and Naval Architecture

Institutional repository: Repository of Faculty of Mechanical Engineering and Naval Architecture University of Zagreb

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Fain, T. (2024). Modelsko prediktivno upravljanje autonomnim vozilom pri prilazu prometnim semaforima (Master's thesis). Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture. Retrieved from https://urn.nsk.hr/urn:nbn:hr:235:856838

Fain, Toni. "Modelsko prediktivno upravljanje autonomnim vozilom pri prilazu prometnim semaforima." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:856838

Fain, Toni. "Modelsko prediktivno upravljanje autonomnim vozilom pri prilazu prometnim semaforima." Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, 2024. https://urn.nsk.hr/urn:nbn:hr:235:856838

Fain, T. (2024). 'Modelsko prediktivno upravljanje autonomnim vozilom pri prilazu prometnim semaforima', Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, accessed 25 November 2024, https://urn.nsk.hr/urn:nbn:hr:235:856838

Fain T. Modelsko prediktivno upravljanje autonomnim vozilom pri prilazu prometnim semaforima [Master's thesis]. Zagreb: University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture; 2024 [cited 2024 November 25] Available at: https://urn.nsk.hr/urn:nbn:hr:235:856838

T. Fain, "Modelsko prediktivno upravljanje autonomnim vozilom pri prilazu prometnim semaforima", Master's thesis, University of Zagreb, Faculty of Mechanical Engineering and Naval Architecture, Zagreb, 2024. Available at: https://urn.nsk.hr/urn:nbn:hr:235:856838

Metadata
TitleModelsko prediktivno upravljanje autonomnim vozilom pri prilazu prometnim semaforima
Title (english)Model predictive control of autonomous vehicle approaching traffic lights
AuthorToni Fain
MentorBranimir Škugor (mentor)
GranterUniversity of Zagreb
Faculty of Mechanical Engineering and Naval Architecture
Zagreb
Defense date and country2024-07-15, Croatia
Scientific / art field,
discipline and subdiscipline		TECHNICAL SCIENCES
Traffic and Transport Technology
Intelligent Transport Systems and Logistics
Abstract
Kako tehnologija autonomne vožnje napreduje, optimizacija potrošnje energije postaje ključna, posebno pri prilasku semaforima gdje zaustavljanje i pokretanje mogu značajno utjecati na ukupnu energetsku učinkovitost. Ovaj rad fokusira se na optimiranje trajektorije brzine vozila pri prilasku semaforu s ciljem postizanja udobne vožnje uz minimalnu potrošnju energije. Korišteno je optimiranje brzine vozila na pomičnom horizontu, poznatije i kao modelsko prediktivno upravljanje (eng. Model Predictive Control, MPC). Problem maksimiziranja energetske učinkovitosti može se formulirati kao optimizacijski problem, pod uvjetom da je dostupna predikcija uvjeta vožnje duž rute. Prediktivne sposobnosti MPC-a čine ga idealnim za uključivanje predviđanja stanja semafora te prilagođavanje brzine i ubrzanja vozila u skladu s optimizacijom potrošnje energije. Pretpostavka je da su trenuci budućih promjena stanja semafora poznati. Simulirani su razni scenariji kako bi se analiziralo ponašanje vozila pri prilasku semaforima u različitim uvjetima. Ti scenariji uključuju varijacije u trajanju semaforskih faza i njihovim početnim stanjima kako bi se procijenila učinkovitost predložene MPC upravljačke strategije.
Abstract (english)
As autonomous driving technology advances, energy consumption optimization becomes crucial, especially when approaching traffic lights, where stopping and starting can significantly affect overall energy efficiency. This thesis focuses on optimizing the vehicle speed trajectory when approaching a traffic light to achieve a comfortable ride with minimal energy consumption. Vehicle speed profile optimization over a receding horizon, also known as Model Predictive Control (MPC), is utilized. The problem of maximizing energy efficiency can be formulated as an optimization problem, provided that a prediction of driving conditions along the route is available. The predictive capabilities of MPC make it ideal for anticipating changes at traffic lights and adjusting the vehicle's speed and acceleration in line with energy consumption optimization. The assumption is that the timing of future traffic light state changes is known in advance. Various scenarios are simulated to analyze the vehicle's behavior when approaching traffic lights under different conditions. These scenarios include variations in traffic light phase durations and their initial states to assess the effectiveness of the MPC strategy.
Keywords
Keywords (english)
Languagecroatian
URN:NBNurn:nbn:hr:235:856838
Study programmeTitle: Mechanical Engineering
Study programme type: university
Study level: graduate
Academic / professional title: magistar/magistra inženjer/inženjerka strojarstva (magistar/magistra inženjer/inženjerka strojarstva)
Type of resourceText
File originBorn digital
Access conditionsOpen access
Terms of useLicence In copyright icon
Created on2024-07-10 07:23:27