부산대학교 도서관

Completely driverless vehicles can only be used in areas with little traffic. Autonomous vehicles will shortly be piloted in urban traffic alongside human-driven vehicles. When an autonomous vehicle is used on a highway, it must be able to recognise the locations of other nearby vehicles that are part of the same environment. It should be able to tell which lane the other cars in the area are travelling in. To start with, the highway traffic scenario is created using SIMULINK. When changing lanes, one must thoroughly assess the situation and pay close attention to the surroundings at all times, especially on highways, to prevent accidents. By regulating the front wheel steering angle of the autonomous vehicle using the Simulink tool of MATLAB, a lane change control system is created utilising model predictive control and the Astar path planner to assure a safe and collision-free autonomous vehicle travelling on highway traffic. After running the model through the entire scenario, the area of the grid in ego viewpoint and the bird’s-eye map in world coordinates are shown. A nonlinear model predictive control is developed in this work and also presents a control technique for lane change control by autonomous cars in highway traffic.