Design of motion system for autonomous driving vehicles
This project aims to design a motion system for autonomous driving vehicles. The motion system is consist of two subsystems, a motion planner and a motion controller. The planner handles decision making and path planning to generate trajectory with waypoints; the controller controls the vehicle t...
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| Format: | Final Year Project |
| Language: | English |
| Published: |
Nanyang Technological University
2020
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| Online Access: | https://hdl.handle.net/10356/140525 |
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| Institution: | Nanyang Technological University |
| Language: | English |
| Summary: | This project aims to design a motion system for autonomous driving vehicles. The
motion system is consist of two subsystems, a motion planner and a motion controller.
The planner handles decision making and path planning to generate trajectory with
waypoints; the controller controls the vehicle to track planned trajectory via throttle,
steer and brake commands. This project implements and tests with both traditional
method and learning-based method. The designed system is evaluated and verified on
CARLA simulator, under various driving scenarios in urban environment. |
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