This thesis involved developing a traffic light system using a single-board computer that is adaptable for different test scenarios of autonomous vehicles at AstaZero. Today there exists a need for using traffic lights in the testing of autonomous vehicles, which the currently existing traffic light systems are not adapted for. This raises the need for developing a traffic light system that is simple enough, but has enough functionality for tests of autonomous vehicles. The traffic light system has to be adaptable to various tests of vehicles, be portable, robust, energy efficient and easy to set up and use through AstaZero's control server. The work began with studying science articles and creating a system- and function design as a template for the traffic light system. When the system was implemented experiments were conducted on energy consumtion and robustness. The finished traffic light system proved to meet the requirements set at the beginning of the thesis and has shown great potential for future development. It was also stated that it is necessary to carry out further testing on the traffic light system in order to verify the robustness and make the energy consumtion more efficient.

This master’s thesis examines how a small MIMO lighting system can be identified and controlled. Two approaches are examined and compared; the first approach is a dynamic model using state space representation, where the system identification technique is Recursive Least Square, RLS, and the controller is an LQG controller; the second approach is a static model derived from the physical properties of light and a feedback feed-forward controller consisting of a PI controller coupled with a Control Allocation, CA, technique. For the studied system, the CA-PI approach significantly outperforms the LQG-RLS approach, which leads to the conclusion that the system’s static properties are predominant compared to the dynamic properties.

The paper describes how a two-dimensional absolute measuring system can explicitly be realized. The theoretical background, the experimental setup, the evaluation algorithm, and the results of measurement are discussed in detail.

The paper describes how a two-dimensional absolute measuring system can explicitly be realized. The theoretical background, the experimental setup, the evaluation algorithm, and the results of measurement are discussed in detail.