Automated Driving Functionality for Intersection Crossing

Master Thesis (2018)
Author(s)

A. van der Heide (TU Delft - Mechanical Engineering)

Contributor(s)

Manuel Mazo Espinosa – Mentor

Sikandar Moten – Mentor

Francesco Celiberti – Mentor

Faculty
Mechanical Engineering
Copyright
© 2018 Oane van der Heide
More Info
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Publication Year
2018
Language
English
Copyright
© 2018 Oane van der Heide
Graduation Date
22-03-2018
Awarding Institution
Delft University of Technology
Faculty
Mechanical Engineering
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Abstract

To reduce the number of traffic accidents on the roads, nowadays computers are aiding humans or taking over control from humans in vehicles. The necessity of Advanced Driver-Assistance Systems (ADAS) in vehicles is growing. New vehicles are being equipped with ADAS, like Adaptive Cruise Control (ACC), to avoid head-to-tail collisions. Still, many steps need to be taken in order to develop a fully autonomous vehicle. One of these steps is the safe crossing of a vehicle on an intersection. The crossing of an intersection is challenging as trajectories of various vehicles may overlap at a certain moment, which may result in a collision.

A controller is developed to safely guide a vehicle through an intersection by avoiding a collision with one other road user, while taking a turn or going straight. The other road user can be autonomous or human driven. The controller is tested on a high fidelity model and used as an ADAS in a driving simulator.

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