title: ÐÐ¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÐ¼ ÑÑÐµÐ´ÑÑÐ²Ð¾Ð¼ Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÐÐ Ð¡
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Optimization of vehicle control processes using MPC methods
Creators: name: ÐÐ°Ð²ÑÐ¸Ð½, ÐÐ°Ð»ÐµÐ½ÑÐ¸Ð½
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2024
Subjects: Ð¼Ð¾Ð´ÐµÐ»Ñ Ð¿ÑÐ¾Ð³Ð½Ð¾Ð·Ð¸ÑÑÑÑÐµÐ³Ð¾ Ð¿Ð¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ
Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ðµ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ðµ ÑÑÐµÐ´ÑÑÐ²Ð¾
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predictive behavior model
unmanned vehicle
car
sensor
lidar
radar
camera
algorithm
architecture

description: Ð¢ÐµÐ¼Ð° Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ: Â«ÐÐ¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ñ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÐ¼ ÑÑÐµÐ´ÑÑÐ²Ð¾Ð¼ Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² MPCÂ». ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÐ¼ ÑÑÐµÐ´ÑÑÐ²Ð¾Ð¼ Ñ Ð¿ÑÐ¸Ð¼ÐµÐ½ÐµÐ½Ð¸ÐµÐ¼ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² MPC, Ð° Ð¸Ð¼ÐµÐ½Ð½Ð¾ Ð¿ÑÐ¾ÑÐµÑÑ Ð¿Ð»Ð°Ð²Ð½Ð¾Ð³Ð¾ ÑÐ¾ÑÐ¼Ð¾Ð¶ÐµÐ½Ð¸Ñ Ð¸ ÑÑÐºÐ¾ÑÐµÐ½Ð¸Ñ Ð½Ð° Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¾Ð¹ Ð´Ð¾ÑÐ¾Ð³Ðµ. ÐÐ°Ð´Ð°ÑÐ¸, ÐºÐ¾ÑÐ¾ÑÑÐµ ÑÐµÑÐ°Ð»Ð¸ÑÑ Ð² ÑÐ¾Ð´Ðµ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ: 1. ÐÐ±Ð·Ð¾Ñ ÑÑÑÐµÑÑÐ²ÑÑÑÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼ Ð´Ð»Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½ÑÐ¼ ÑÑÐµÐ´ÑÑÐ²Ð¾Ð¼. 2. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¸Ðµ ÑÑÐ°Ð²Ð½Ð¸ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð°Ð½Ð°Ð»Ð¸Ð·Ð° Ð½Ð°Ð¹Ð´ÐµÐ½Ð½ÑÑ Ð¿Ð¾Ð´ÑÐ¾Ð´Ð¾Ð². 3. ÐÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÐºÐ¾Ð½ÑÑÐ¾Ð»Ð»ÐµÑÐ° Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Matlab. 4. Ð¡Ð¸Ð¼ÑÐ»ÑÑÐ¸Ñ Ð¿Ð¾Ð²ÐµÐ´ÐµÐ½Ð¸Ñ ÑÑÐ°Ð½ÑÐ¿Ð¾ÑÑÐ½Ð¾Ð³Ð¾ ÑÑÐµÐ´ÑÑÐ²Ð° Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Simulink. 5. ÐÐ½Ð°Ð»Ð¸Ð· Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ¾Ð². 6. ÐÐµÐ¼Ð¾Ð½ÑÑÑÐ°ÑÐ¸Ñ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¾Ð¿ÑÐ¸Ð¼Ð¸Ð·Ð°ÑÐ¸Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ. ÐÑÐ°ÐºÑÐ¸ÑÐµÑÐºÐ¸ Ð²ÐµÑÑ ÑÐ¸ÐºÐ» ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ» Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½ Ð½Ð° Ð½Ð°ÑÑÐ¾Ð»ÑÐ½Ð¾Ð¼ ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐµ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð²ÑÑÐ¾ÐºÐ¾ÑÑÐ¾Ð²Ð½ÐµÐ²Ð½ÐµÐ³Ð¾ Ð¸Ð½ÑÐµÑÐ¿ÑÐµÑÐ¸ÑÑÐµÐ¼Ð¾Ð³Ð¾ ÑÐ·ÑÐºÐ° Ð¿ÑÐ¾Ð³ÑÐ°Ð¼Ð¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ â Matlab, Ð° ÑÐ°ÐºÐ¶Ðµ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð¿Ð¾Ð´ÑÐ¸ÑÑÐµÐ¼Ñ Ð¸Ð¼Ð¸ÑÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð³Ð¾ Ð¼Ð°ÑÐµÐ¼Ð°ÑÐ¸ÑÐµÑÐºÐ¾Ð³Ð¾ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð¸Ð½Ð°Ð¼Ð¸ÑÐµÑÐºÐ¸Ñ Ð¿ÑÐ¾ÑÐµÑÑÐ¾Ð². Ð ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ Ð²ÑÐ¿ÑÑÐºÐ½Ð¾Ð¹ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð¾Ð¹ ÑÐ°Ð±Ð¾ÑÑ Ð±ÑÐ» ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð¼Ð°ÑÑÑÐ°Ð±Ð¸ÑÑÐµÐ¼ÑÐ¹ Ð¿ÑÐ¾ÑÐ¾ÑÐ¸Ð¿ ÑÐ¸ÑÑÐµÐ¼Ñ Ð¿Ð»Ð°Ð²Ð½Ð¾Ð³Ð¾ ÑÑÐºÐ¾ÑÐµÐ½Ð¸Ñ Ð¸Ð»Ð¸ ÑÐ¾ÑÐ¼Ð¾Ð¶ÐµÐ½Ð¸Ñ, ÐºÐ¾ÑÐ¾ÑÑÐ¹ Ð¼Ð¾Ð¶ÐµÑ Ð±ÑÑÑ Ð² Ð´Ð°Ð»ÑÐ½ÐµÐ¹ÑÐµÐ¼, Ð²ÑÑÑÐ¾ÐµÐ½ Ð² ÑÐ¸ÑÑÐµÐ¼Ñ Ð°Ð²ÑÐ¾Ð¿Ð¸Ð»Ð¾ÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¹.
description: The topic of the final qualification work: "Optimization of vehicle control processes using MPC methods". This work is devoted to optimizing vehicle control processes using MPC methods, namely the process of smooth braking and acceleration on a dynamic road. Tasks that were solved during the research: 1. Overview of existing systems for optimizing vehicle management processes. 2. Conducting a comparative analysis of the approaches found. 3. Programming the controller using Matlab. 4. Simulation of vehicle behavior using Simulink. 5. Analysis of the results obtained. 6. Demonstration of the management process optimization system. Almost the entire cycle of work was carried out on a desktop computer using a highâlevel interpreted programming language - Matlab, as well as using a subsystem of simulation mathematical modeling of dynamic processes. As a result of the final qualification work, a scalable prototype of a smooth acceleration or braking system was developed, which can be further integrated into the autopilot system of cars.