Automated Computing and Tracking of the Maximum Velocity on a Certain Road Sector

Abstract

One of the biggest challenges at the moment in terms of vehicles is the realization of their autonomous operation. The control solution to this problem includes two functionalities: the hardware level of operation, detection, and communication, and the second level, software, which consists of advanced surveillance algorithms for the environment and the implementation of control algorithms. This paper aims to develop and implement an algorithm to compute the maximum velocity of a vehicle on a certain road sector. Linear mathematical models describing the operation of the vehicle were used emphasizing the two dynamics, longitudinal and lateral, respectively. The velocity adjustment solution is based on the model predictive control strategy that ensures good performances. As a reference to the process, several types of trajectories were considered based on which it was possible to calculate the velocity at each point. In this way, the velocity has been adapted accordingly, taking the maximum value necessary to achieve a safe movement along the road.