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The technical development of autonomous driving technologies is progressing rapidly, and fully autonomous vehicles will soon have a place in our everyday life. In order to drive, autonomous vehicles need to perform motion planning, that is, plan trajectories and maneuvers to be performed. These trajectories should consider vehicle dynamics and comfort constraints.
Parametric functions, such as splines, bézier curves or clothoids, are often used to plan trajectories for autonomous vehicles. They present different advantages and disadvantages, and to choose one of the alternatives, one has to study their applicability. Considerations with respect to ease of use, ability to respect vehicle constraints, and computation times must be taken into account, when deciding on a parametric function to use.
The choice of a parametric function is then of extreme importance, as it will affect the safety and comfort of autonomous vehicles. Furthermore, considerations must be taken, in order to ensure that the chosen parametric function complies with the safety and comfort requirements, while being feasible to implement with limited computational resources.
To study and develop algorithms for motion planning, using parametric functions. A study is to be made into a few of the different alternatives, and the best alternative must be chosen, taking into account application requirements and computational limitations.
Enumerate a set of possible candidate parametric functions to be used for motion planning.
Study the properties, advantages and disadvantages of selected parametric functions.
Evaluate the selected parametric functions, within the context of a Motion Planner.
Collect results in simulation and on the actual vehicles, of the different candidate parametric functions.
Master (civilingenjör) in engineering physics, electrical engineering, computer science, or applied mathematics.
Number of students: 1-2
Start date: January 2019
Estimated time needed: 20 weeks
Contact persons and supervisors:
Rui Oliveira, Industrial PhD in Autonomous Motion, email@example.com, 08 - 553 719 54
Enclose CV, cover letter and transcript of records