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Abstract
Autonomous driving is one of the technologies that could impact significantly society
in the next decades. While various advanced driver assistance systems (ADAS) have
already been introduced in commercial passenger vehicles, the technology for fully self-
driving cars is not yet ready. The Indy Autonomous Challenge is a competition between
universities and research centers, born to advance the technology in this field by com-
peting in autonomous racecar events. The IAC seeks to increase public awareness of
the transformational impact that automation can have on society and solve edge-case
scenarios unlikely to happen in an urban scenario but with the need of be addressed to
ensure safety.
The focus of this thesis is on the integration of the controller, a model predictive control
(MPC), used in two of these challenges. This class of control, based on a constrained op-
timal control scheme, is usually used to cope with challenging situations and was suitable
for handling an autonomous car at high speeds.
Abstract
Autonomous driving is one of the technologies that could impact significantly society
in the next decades. While various advanced driver assistance systems (ADAS) have
already been introduced in commercial passenger vehicles, the technology for fully self-
driving cars is not yet ready. The Indy Autonomous Challenge is a competition between
universities and research centers, born to advance the technology in this field by com-
peting in autonomous racecar events. The IAC seeks to increase public awareness of
the transformational impact that automation can have on society and solve edge-case
scenarios unlikely to happen in an urban scenario but with the need of be addressed to
ensure safety.
The focus of this thesis is on the integration of the controller, a model predictive control
(MPC), used in two of these challenges. This class of control, based on a constrained op-
timal control scheme, is usually used to cope with challenging situations and was suitable
for handling an autonomous car at high speeds.
Tipologia del documento
Tesi di laurea
(Laurea magistrale)
Autore della tesi
Toschi, Alessandro
Relatore della tesi
Scuola
Corso di studio
Ordinamento Cds
DM270
Parole chiave
model,control,MPC,Autonomous Driving,simulation,test
Data di discussione della Tesi
21 Marzo 2022
URI
Altri metadati
Tipologia del documento
Tesi di laurea
(NON SPECIFICATO)
Autore della tesi
Toschi, Alessandro
Relatore della tesi
Scuola
Corso di studio
Ordinamento Cds
DM270
Parole chiave
model,control,MPC,Autonomous Driving,simulation,test
Data di discussione della Tesi
21 Marzo 2022
URI
Gestione del documento: