title: Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¼ Ð¿ÑÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¸ Ð¿Ð¾ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð±Ð°ÐºÐ°Ð»Ð°Ð²ÑÐ°
titleType: Subtitle
title: Control system design for self-driving car while following path
Creators: name: ÐÐµÐ´ÐµÐ½Ð¸Ð½, ÐÐ°Ð½Ð¸Ð¸Ð»
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: 2020
Subjects: ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¼
ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ñ Ð¿ÑÐ¾Ð³Ð½Ð¾Ð·Ð¸ÑÑÑÑÐ¸Ð¼Ð¸ Ð¼Ð¾Ð´ÐµÐ»ÑÐ¼Ð¸
ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¹
ÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ðµ Ð¿Ð¾ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸
ÑÐ¸Ð¼ÑÐ»ÑÑÐ¸Ñ
self-driving car control system
path following
trajectories comparison
simulation
model predictive control

description: ÐÐ°Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¿Ð¾ÑÐ²ÑÑÐµÐ½Ð° ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¼ Ð¿ÑÐ¸ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ð¸ Ð¿Ð¾ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸ Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐµ ÑÐ¸ÑÑÐµÐ¼Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð½Ð° Ð¸Ñ Ð¾ÑÐ½Ð¾Ð²Ðµ. ÐÐ°Ð´Ð°ÑÐ¸, ÑÐµÑÐ°ÐµÐ¼ÑÐµ Ð² ÑÐ°Ð±Ð¾ÑÐµ: Ð¿Ð¾Ð¸ÑÐº Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸ÐµÐ¼ Ð¿Ð¾ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¸; ÑÐ¾ÑÐ¼Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ðµ ÐºÑÐ¸ÑÐµÑÐ¸ÐµÐ² Ð¾ÑÐµÐ½ÐºÐ¸ ÐºÐ°ÑÐµÑÑÐ²Ð° Ð¸ ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐºÐ° Ð¼Ð¾Ð´ÑÐ»Ñ, Ð²ÑÑÐ¸ÑÐ»ÑÑÑÐµÐ³Ð¾ Ð·Ð½Ð°ÑÐµÐ½Ð¸Ñ ÐºÑÐ¸ÑÐµÑÐ¸ÐµÐ²; ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¼ Ð¿Ð¾ Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÐ¼ ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐ°Ð¼; Ð²ÑÑÐ²Ð»ÐµÐ½Ð¸Ðµ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¾Ð² ÑÐ°Ð±Ð¾ÑÑ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð¸ Ð¼Ð¾Ð´Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ñ ÑÐµÐ»ÑÑ ÑÐ»ÑÑÑÐµÐ½Ð¸Ñ ÐºÐ°ÑÐµÑÑÐ²Ð° ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¼. Ð Ð°Ð±Ð¾ÑÐ° Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð° Ð½Ð° Ð±Ð°Ð·Ðµ ÐÐÐ Â«ÐÐÐ Â«Ð¡ÑÐ°ÑÐÐ°Ð¹Ð½Â». ÐÑÐ»Ð¸ Ð¿ÑÐ¾Ð²ÐµÐ´ÐµÐ½Ñ Ð¼Ð¾Ð´ÐµÐ»Ð¸ÑÐ¾Ð²Ð°Ð½Ð¸Ñ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½Ð¾Ð³Ð¾ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»Ñ Ð½Ð° ÑÐ°Ð·Ð½ÑÑ Ð²ÑÐ¾Ð´Ð½ÑÑ Ð´Ð°Ð½Ð½ÑÑ Ñ ÑÐ°Ð·Ð½ÑÐ¼Ð¸ Ð¼ÐµÑÐ¾Ð´Ð°Ð¼Ð¸ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ, ÑÐ¾Ð±ÑÐ°Ð½Ñ Ð´Ð°Ð½Ð½ÑÐµ, Ð¿Ð¾ÑÑÑÐ¾ÐµÐ½Ñ Ð³ÑÐ°ÑÐ¸ÐºÐ¸ ÑÑÐ°ÐµÐºÑÐ¾ÑÐ¸Ð¹ Ð´Ð²Ð¸Ð¶ÐµÐ½Ð¸Ñ. ÐÑÐ»Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ñ ÑÐ°Ð·Ð½ÑÐµ Ð¼ÐµÑÐ¾Ð´Ñ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ñ Ð±ÐµÑÐ¿Ð¸Ð»Ð¾ÑÐ½ÑÐ¼ Ð°Ð²ÑÐ¾Ð¼Ð¾Ð±Ð¸Ð»ÐµÐ¼. Ð¢Ð°ÐºÐ¶Ðµ ÑÑÑÐ°Ð½Ð¾Ð²Ð»ÐµÐ½Ð¾, ÑÑÐ¾ ÑÐ¿ÑÐ°Ð²Ð»ÐµÐ½Ð¸Ðµ Ñ Ð¿ÑÐ¾Ð³Ð½Ð¾Ð·Ð¸ÑÑÑÑÐ¸Ð¼Ð¸ Ð¼Ð¾Ð´ÐµÐ»ÑÐ¼Ð¸ Ñ ÑÐµÑÐ°ÐµÐ¼Ð¾Ð¹ Ð¿ÑÐ¾Ð±Ð»ÐµÐ¼Ð¾Ð¹ ÑÐ¿ÑÐ°Ð²Ð»ÑÐµÑÑÑ Ð»ÑÑÑÐµ Ð²ÑÐµÐ³Ð¾, Ð° ÑÐ°ÐºÐ¶Ðµ Ð¸Ð¼ÐµÐµÑ Ð²Ð¾Ð·Ð¼Ð¾Ð¶Ð½Ð¾ÑÑÑ Ð³Ð¸Ð±ÐºÐ¾Ð¹ Ð½Ð°ÑÑÑÐ¾Ð¹ÐºÐ¸ Ð°Ð»Ð³Ð¾ÑÐ¸ÑÐ¼Ð°.
description: This work is devoted to the comparison of control methods of an unmanned vehicle while driving along a trajectory and the development of a control system based on them. Tasks solved in the work: search for methods of controlling movement along the trajectory; the formation of quality assessment criteria and the development of a module that calculates the values of the criteria; comparison of unmanned vehicle driving methods based on the results; identification of deficiencies in the operation of control methods and modification of methods in order to improve the quality of control of an unmanned vehicle. The work was carried out on the basis of LLC NPO StarLine. Simulations of the movement of an unmanned vehicle on different input data with different control methods were carried out, data was collected, and graphs of the motion paths were constructed. Different methods of driving an unmanned vehicle have been tested. It was also established that management with predictive models copes with the problem being solved best, and also has the ability to flexibly configure the algorithm.