ADAS systems using advanced technologies in a simulated environment

The thesis project has been carried out in collaboration with Danisi Engineering, a society that takes care purely of the development of engineering solutions and prototyping of vehicles for the automotive industry. One of the main activities of interest to the company is the research and development of ADAS (Advanced Driver-Assistance systems) techniques, autonomous driving systems that will be mandatory on all vehicles registered from 2022, which are made through the use of the state-of-the-art dedicated software and hardware. The aim of this thesis activity is to implement an autonomous driving maneuver, specifically a Lane-Keeping, in a Matlab/Simulink environment and to ensure that this is perfectly realized by a real custom vehicle, created in VI-CarRealTime, on two kinds of realistic scenarios, one urban and one extra-urban, designed using a simulation software called Software X, for copyright reasons. In the first period the attention has been focused on the study of the ADAS world: a brief look at the history of ADAS, the knowledge of both SAE levels of driving automation and the state of the art of ADAS techniques, the study of electronic systems to realize them, such as Camera, Lidar and Radar sensors and the analysis of the legal aspects and further developments listed in the European projects taken as a reference point. By studying and understanding the operation of Software X, the two basic scenarios were created. The scenarios reflect in detail the features required in three European projects, the purpose of which is to create virtual platforms that provide highly automated operations for advanced vehicles based on safety and they will be the basic environment on which the Lane-Keeping maneuver will be introduced. After that, the control logic for the generation of the target maneuver, the mathematical approach and the parameters to be controlled have been implemented, and a real vehicle model has been realized in VI-CarRealTime, to replicate the autonomous driving system on the two target scenarios. This is a real Software-in-the-Loop logic realized by interacting with each other, three simulation software: Matlab/Simulink, Software X and VI-CarRealTime. Finally, the results and further developments are discussed.