Design of motion system for autonomous driving vehicles

• Main Author: Chen, Jinghuan
• Other Authors: Hu, Guoqiang
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2020
• Subjects: Engineering::Electrical and electronic engineering::Computer hardware, software and systems
• Online Access: https://hdl.handle.net/10356/140525
• Institution: Nanyang Technological University

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.