Coordination of Autonomous Vehicles Considering Safety Mechanisms

Abstract

The main objective of this project is to analyse the state of the art in the field of safety coor- dination of autonomous vehicles and study, develop and compare different techniques focused on optimizing the traffic,considering comfortable manoeuvres and increasing the safety of the passengers from the point of view of path planning avoiding fixed and mobile obstacles . For this purpose, the results of different optimization-based planners based on MPC techniques have been developed and compared, using both kinematic and dynamic models. Resolutions based on nonlinear systems and linear systems using LPV techniques have been proposed. In addition, it has been considered that the main component of the optimization criteria should be the safety of the passenger and other vehicles, for which different ways of including obstacle avoidance have been studied such as introducing set-theory to delimit the problem to viable regions based on safety criteria.