Metody rekonstrukce trajektorie vozidla pro účely řízení jeho pohybu

Abstract

This thesis focuses on the design, implementation, and verification of methods for vehicle trajectory reconstruction based on sensor data. First, a theoretical review of known trajectory reconstruction methods is conducted, including Dead reckoning, sensor fusion, SLAM, and spline-based techniques. A suitable method is selected and subsequently implemented, with the main emphasis placed on the utilization of data from the Drive-by-Wire system, the inertial measurement unit (IMU), and wheel rotation sensors. The thesis also includes the design of a vehicle control algorithm based on the reconstructed trajectory, using the Drive-by-Wire system via the CAN bus. The functionality of the proposed solution is verified through test drives.