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Autonomous Control of Cars
Čurda, Vojtěch ; Bidlo, Michal (referee) ; Strnadel, Josef (advisor)
The purpose of this bachelor's thesis is to create a model of a self-driving vehicle, along with its surroundings. At first, the thesis outlines the vehicle automation and the system modeling problematics. The thesis then shows the design of said model, as well as its implementation. The model was implemented in UPPAAL Stratego - a tool that is used for modeling, validation and verification of real-time systems, in which the model is implemented as networks of timed automata. The result is a model of a self-driving vehicle, that can drive itself on a motorway with an arbitrary amount of traffic lanes. The self-driving vehicle reacts appropriately to the movement of other vehicles on the motorway and can change its speed according to speed limiting traffic signs. The behaviour of the model is then validated with the help of statistical analysis, which is done using the verification language embedded in the mentioned tool. The model is tested in specific scenarios, as well as random scenarios, where the self-driving vehicle is set into a regular traffic.
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Computational Model and Analysis of Adaptive Traffic Lights
Terbr, Filip ; Šimek, Václav (referee) ; Strnadel, Josef (advisor)
This thesis deals with the topic of adaptive intersections and the study of their influence on the flow of traffic and others. The work contains an analysis of currently used traffic detectors, an analysis of the main problems of classic intersections and the possibilities of their solution, followed by the design of the model, a description of the implementation and testing of the created model. The resulting model is created in the UPPAAL SMC software and is a system of timed automata communicating with each other. Testing is performed by comparing the results of tests of classical traffic lights with the results of adaptive traffic lights.
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Intelligent Adaptive Cruise Control of Cars
Smädo, Tomáš ; Šimek, Václav (referee) ; Strnadel, Josef (advisor)
The aim of the bachelor`s thesis is to create a model of intelligent adaptive cruise control system and its surroundings, in which it´s possible to demonstrate its abilities. First, in this thesis we will describe the various types of cruise controls and their sensors. Then we will discuss system modeling fundamentals and utilities for creating such models. Later, in third chapter, we will describe our model design and its implementation. We selected UPPAAL Stratego modeling tool for our implementation. The model in it is created as a network of timed automata. The result of this implementation will be a model of a car with adaptive cruise control with the possibility of switching on this intelligent module and an environment, in which our model will be tested. The model will be tested in the verifier in various scenarios to compare the basic adaptive cruise control functionality with the inteligent cruise control functionality.
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Search of Control Strategies Using UPPAAL STRATEGO
Hruška, Filip ; Hrubý, Martin (referee) ; Strnadel, Josef (advisor)
This thesis deals with finding control strategies for pre-selected problems from various areas using tool Uppaal Stratego. Four areas were selected, namely chess, a sliding puzzle, the tower of Hanoi, and a kinematic problem involving a package, a car, and an airplane. For the selected areas and problems, a set of models was designed and implemented. For the tower of Hanoi and the sliding field, it was possible to successfully evaluate relevant strategies, raising the probabilities of success to more than 90 %. For other models, a problem was found in the size of the state space and the strategies could not be evaluated because the maximum memory capacity that the tool uses was not sufficient. For the kinematic problem, after limiting and simplifying the model, the strategies were successfully evaluated, but for chess, this was not possible even after significant simplification.
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ABS Impact to Behavior of Vehicle
Zich, Jakub ; Šimek, Václav (referee) ; Strnadel, Josef (advisor)
The bachelor thesis discusses the Anti-lock braking system and its impact on braking distance of a vehicle. The thesis contains research of this problem, a summary of suitable modeling tools, solution draft, its implementation in the UPPAAL modeling tool and tests performed with the model. The tests examine the course of progression of basic quantities associated with braking (velocity, braking distance, slip, angular velocity, friction coefficient) in simulations of emergency braking with and without the use of ABS, and compare the results. They also verify probability of the vehicle stopping in different circumstances on given distance. Lastly, the model can simulate brake or sensor defect, and results of those simulations can be compared to simulations without defect.
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Intelligent Adaptive Cruise Control of Cars
Smädo, Tomáš ; Šimek, Václav (referee) ; Strnadel, Josef (advisor)
The aim of the bachelor`s thesis is to create a model of intelligent adaptive cruise control system and its surroundings, in which it´s possible to demonstrate its abilities. First, in this thesis we will describe the various types of cruise controls and their sensors. Then we will discuss system modeling fundamentals and utilities for creating such models. Later, in third chapter, we will describe our model design and its implementation. We selected UPPAAL Stratego modeling tool for our implementation. The model in it is created as a network of timed automata. The result of this implementation will be a model of a car with adaptive cruise control with the possibility of switching on this intelligent module and an environment, in which our model will be tested. The model will be tested in the verifier in various scenarios to compare the basic adaptive cruise control functionality with the inteligent cruise control functionality.
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|
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Computational Model and Analysis of Adaptive Traffic Lights
Terbr, Filip ; Šimek, Václav (referee) ; Strnadel, Josef (advisor)
This thesis deals with the topic of adaptive intersections and the study of their influence on the flow of traffic and others. The work contains an analysis of currently used traffic detectors, an analysis of the main problems of classic intersections and the possibilities of their solution, followed by the design of the model, a description of the implementation and testing of the created model. The resulting model is created in the UPPAAL SMC software and is a system of timed automata communicating with each other. Testing is performed by comparing the results of tests of classical traffic lights with the results of adaptive traffic lights.
|
|
|
Autonomous Control of Cars
Čurda, Vojtěch ; Bidlo, Michal (referee) ; Strnadel, Josef (advisor)
The purpose of this bachelor's thesis is to create a model of a self-driving vehicle, along with its surroundings. At first, the thesis outlines the vehicle automation and the system modeling problematics. The thesis then shows the design of said model, as well as its implementation. The model was implemented in UPPAAL Stratego - a tool that is used for modeling, validation and verification of real-time systems, in which the model is implemented as networks of timed automata. The result is a model of a self-driving vehicle, that can drive itself on a motorway with an arbitrary amount of traffic lanes. The self-driving vehicle reacts appropriately to the movement of other vehicles on the motorway and can change its speed according to speed limiting traffic signs. The behaviour of the model is then validated with the help of statistical analysis, which is done using the verification language embedded in the mentioned tool. The model is tested in specific scenarios, as well as random scenarios, where the self-driving vehicle is set into a regular traffic.
|
|
|
ABS Impact to Behavior of Vehicle
Zich, Jakub ; Šimek, Václav (referee) ; Strnadel, Josef (advisor)
The bachelor thesis discusses the Anti-lock braking system and its impact on braking distance of a vehicle. The thesis contains research of this problem, a summary of suitable modeling tools, solution draft, its implementation in the UPPAAL modeling tool and tests performed with the model. The tests examine the course of progression of basic quantities associated with braking (velocity, braking distance, slip, angular velocity, friction coefficient) in simulations of emergency braking with and without the use of ABS, and compare the results. They also verify probability of the vehicle stopping in different circumstances on given distance. Lastly, the model can simulate brake or sensor defect, and results of those simulations can be compared to simulations without defect.
|
|
|
Search of Control Strategies Using UPPAAL STRATEGO
Hruška, Filip ; Hrubý, Martin (referee) ; Strnadel, Josef (advisor)
This thesis deals with finding control strategies for pre-selected problems from various areas using tool Uppaal Stratego. Four areas were selected, namely chess, a sliding puzzle, the tower of Hanoi, and a kinematic problem involving a package, a car, and an airplane. For the selected areas and problems, a set of models was designed and implemented. For the tower of Hanoi and the sliding field, it was possible to successfully evaluate relevant strategies, raising the probabilities of success to more than 90 %. For other models, a problem was found in the size of the state space and the strategies could not be evaluated because the maximum memory capacity that the tool uses was not sufficient. For the kinematic problem, after limiting and simplifying the model, the strategies were successfully evaluated, but for chess, this was not possible even after significant simplification.
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