Desenvolupament del control d'un vehicle autònom en un entorn de simulació

This thesis has as its main objective the development of a controller for an autonomous vehicle. Among all possible control strategies, th e methodology chosen follows a linear MPC structure in order to achieve the goal. Basically a MPC tries to predict future behaviour of the vehicle and anticipated the actions to perform smooth movements. In addition, a methodology to find a feasible speed profile was developed as it was a prior requirement to test correctly the controller. This planning for speed profile was done also by using MPC structure and does not take into account vehicle dynamics but kinematics . The procedure to evaluate the performance of the controller goes on building different scenarios and making simulations on them. Simulations have been done in MATLAB an d VI - CarRealTime. This last software is very important to achieve realistic dynamic response. The results show that the controller is a ver y valid option to consider in autonomous vehicles and has a big potential behind. Only in very extreme situations whe re the limits of the tyres are reached it present s some difficulties to operate