Basargan Hakan

Artificial Intelligence Based Trajectory Planning and Tracking for Autonomous Vehicle

Budapesti Műszaki és Gazdaságtudományi Egyetem

Kandó Kálmán Doktori Iskola

Gáspár Péter

egyéni

PhD

The goal of the PhD research is to design a safety-oriented worst-case trajectory planning and control of an autonomous vehicle subject to different unexpected events such as fault scenarios or cyber attacks. As an autonomous vehicle consists several sensors for environment recognition and object detection (cameras, lidars, radars, GPS systems) and vehicle motion sensors (wheel speed sensors, accelerometers, gyroscope) as well as vehicle state and actuation sensors (throttle and brake pedal sensors, steering sensor, tire pressure sensor, etc.), with the use of fault-tolerant control strategies and sensor fusion it is possible to design an autonomous system capable of handling such special cases. The proposed control scheme consists of a recognition system to detect faults, a decision logic to select proper action and a trajectory planner to perform the required action. The validation of the method is realized using high-fidelity vehicle simulators.

2018-09-01

2022-08-01

fokozatot szerzett

Artificial Intelligence Based Trajectory Planning and Tracking for Autonomous Vehicle

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