{"id":1243,"date":"2020-04-22T22:40:34","date_gmt":"2020-04-22T22:40:34","guid":{"rendered":"http:\/\/sites.rutgers.edu\/nb-senior-exhibits\/?page_id=1243"},"modified":"2020-04-23T21:36:12","modified_gmt":"2020-04-23T21:36:12","slug":"becker-tyler","status":"publish","type":"page","link":"https:\/\/sites.rutgers.edu\/nb-senior-exhibits\/partners\/aresty-research-virtual-symposium-2020\/becker-tyler\/","title":{"rendered":"Becker, Tyler: Collision Avoidance for Full Four-Wheel Nonlinear Vehicle through Model Predictive Controller"},"content":{"rendered":"<p><a href=\"http:\/\/sites.rutgers.edu\/nb-senior-exhibits\/wp-content\/uploads\/sites\/442\/2020\/04\/tyler_becker-1.pdf\" target=\"_blank\" rel=\"noopener noreferrer\"><img loading=\"lazy\" decoding=\"async\" class=\"size-medium wp-image-717 alignleft\" src=\"http:\/\/sites.rutgers.edu\/nb-senior-exhibits\/wp-content\/uploads\/sites\/442\/2020\/04\/tyler_becker_thumbnail-300x225.png\" alt=\"Tyler Becker thumbnail\" width=\"300\" height=\"225\" srcset=\"https:\/\/sites.rutgers.edu\/nb-senior-exhibits\/wp-content\/uploads\/sites\/442\/2020\/04\/tyler_becker_thumbnail-300x225.png 300w, https:\/\/sites.rutgers.edu\/nb-senior-exhibits\/wp-content\/uploads\/sites\/442\/2020\/04\/tyler_becker_thumbnail-1024x768.png 1024w, https:\/\/sites.rutgers.edu\/nb-senior-exhibits\/wp-content\/uploads\/sites\/442\/2020\/04\/tyler_becker_thumbnail-768x576.png 768w, https:\/\/sites.rutgers.edu\/nb-senior-exhibits\/wp-content\/uploads\/sites\/442\/2020\/04\/tyler_becker_thumbnail.png 1067w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/><\/a><\/p>\n<p><strong><a class=\"btn btn-primary\" href=\"https:\/\/rutgers.box.com\/s\/i8owfjtjeh1cvlyqani19derpjiaialt\" target=\"_blank\" rel=\"noopener noreferrer\">View video presentation<\/a><\/strong><\/p>\n<p><strong>Title:<\/strong> Collision Avoidance for Full Four-Wheel Nonlinear Vehicle through Model Predictive Controller<\/p>\n<p><strong>Name:<\/strong> Tyler Becker<\/p>\n<p><strong>Major:<\/strong> Aerospace Engineering<\/p>\n<p><strong>School affiliation:<\/strong> School of Engineering<\/p>\n<p><strong>Programs:<\/strong> Aresty &#8211; RA Program<\/p>\n<p><strong>Other contributors:<\/strong> Daniella Chung, Annalisa Scacchioli<\/p>\n<p><strong>Abstract:<\/strong> Advanced collision avoidance strategies for detecting obstacle and enforcing aggressive lane changes while braking are still in development to increase driver safety. Our project focuses on designing a full, four-wheel nonlinear car model with advanced control technique using a MATLAB\/Simulink numerical simulation environment. The car model undergoes various accident avoidance features and scenarios implemented through a Model Predictive Controller (MPC). The MPC governs the vehicle\u2019s driver inputs (braking, steering, throttle) by enforcing constraints and optimizing parameters that successfully allows the car to maneuver around obstacles. By focusing on the steering angle of the front wheels and manipulation of the parameters specific to the controller (prediction horizon, control horizon, and sample time), we established a robust control system able to complete the ultimate task of collision avoidance in various scenarios. Our results conclude that linear model predictions are merely situationally effective, but most of the driving scenarios necessitate the implementation of a nonlinear predictive model. However, with this nonlinear predictive model, computation times are increased to a point where maneuver control sequences can non longer be calculated online and must instead be determined a priori.<\/p>\n","protected":false},"excerpt":{"rendered":"<p>View video presentation Title: Collision Avoidance for Full Four-Wheel Nonlinear Vehicle through Model Predictive Controller Name: Tyler Becker Major: Aerospace Engineering School affiliation: School of Engineering Programs: Aresty &#8211; RA &hellip; <a href=\"https:\/\/sites.rutgers.edu\/nb-senior-exhibits\/partners\/aresty-research-virtual-symposium-2020\/becker-tyler\/\" class=\"\">Read More<\/a><\/p>\n","protected":false},"author":970,"featured_media":0,"parent":441,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"template-custom.php","meta":{"_acf_changed":false,"footnotes":""},"class_list":["post-1243","page","type-page","status-publish","hentry"],"acf":[],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v23.5 - 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