Modelling and Simulation of an autonomous driving control System for Path-Planning optimization
10th Annual COE Graduate Poster Presentation Competition
Yihui Liu (MS)
Advisor: Dr.Sun Yi
Department of Computer Science, College Of Engineering, North Carolina A & T State University
Email: yliu3@aggies.ncat.edu
Introduction
Conclusion
Result
Technical Approach
Self-driving cars fall under the category of smart cars. This is to achieve autonomous driving through advanced algorithms and computing equipment. Path-planning technology is one of the important components to realize autonomous driving.
Matlab and Simulink
Simulator like Carsim,Unreal Engine or Roadrunner,etc.
Method
Build function in Matlab based on Theory Function(Which I choosed is A-star Function) and Visual vehicle algorithm model on Simulink.Then modify the function to make a smoother or more reasonable route plan.
(2 types of Graphical A-star algorithm)
(Model build on Simulink)
(Set up the obstacle and waypoint-route and compare with the modifyalgorithm).
(A-star function compare with the modified function)
(Simulation on Carsim)
The improvement of algorithm can make the route more smooth and reasonable. At the same time, the new function is also helpful to control the acceleration and collision avoidance for the vehicle by more variable import.
Future Works
1.Test more path planning algorithms like LQR and ant algorithm.
2.Research more on routing algorithms for collision avoidance in autonomous driving
3.Study the role of specific parameters, and explore more suitable Simulink modeling for the simulation of autonomous driving.
4.Importing the algorithm in a ROS environment and test it.
Reference
1.https://arxiv.org/abs/1911.08349
Optimization of Adaptive Cruise Control system Controller: using Linear Quadratic Gaussian based on Genetic Algorithm
Yuncheng Jiang, Lilong Cai, Xiaofeng Jin
2.https://arxiv.org/abs/1912.04458
A Dynamic Motion Planning Framework for Autonomous Driving in Urban Environments
Yuncheng Jiang, Xiaofeng Jin, Yanfei Xiong, Zhaoyong Liu