Vehicle-in-the-loop validation of autonomous cars
Licentiate thesis, 2022
This thesis proposes a framework for modelling, analysis, and control of tests-scenarios for validation of autonomous cars by exposing the vehicle-under-test to a traffic scenario at a test track, where mobile test-targets represent other road users. The framework is suitable for leader-follower, multi-agent systems where the motion of the followers should be coordinated with the motion of an externally controlled leader. Scenarios are modelled as switched systems. The feasibility of the scenario is investigated using backward reachability analysis. A constrained optimal control problem is formulated to control the state of the multi-agent system through a sequence of goal sets. Simulation results illustrate the usefulness of the framework.
A second contribution in this thesis is a novel method for decentralized computation of backward reachable sets and robust control invariant sets. The method is applicable to large-scale systems arising from the interconnection of multiple subsystems with linear dynamics. Polyhedral constraints and additive disturbances are considered. Compared to the standard centralized procedure for computation of control invariant sets, the proposed method is more efficient for large-scale systems where the coupling among the subsystems is sparse.
Model Predictive Control
Angel Molina Acosta
Chalmers, Electrical Engineering, Systems and control
Modelling and Control of Test-Scenarios for Validation of Autonomous Driving Functions
American Control Conference,; Vol. 2021-May(2021)p. 2943-2948
Paper in proceeding
Liuzza, D., Molina Acosta, A., Falcone, P., Glielmo, L., Distributed control invariant set: the linear affine case.
Areas of Advance
Room EA, EDIT-Building, Hörsalsvägen 11, 412 58 Göteborg
Opponent: Assoc. Prof. Jana Tumová, KTH Royal Institute of Technology, Sweden