AAC 2019 Paper Abstract

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Paper WeAT1.2

Schrödel, Frank (IAV GmbH), Freese, Matthias (IAV GmbH)

Concept and Validation of a Guidance Approach for Highly Automated Shuttles

Scheduled for presentation during the Regular Session "Guidance and Collision Avoidance" (WeAT1), Wednesday, June 26, 2019, 10:50−11:10, Chambord

9th IFAC International Symposium on Advances in Automotive Control, June 23-27, 2019, Orléans, France

This information is tentative and subject to change. Compiled on March 28, 2024

Keywords Autonomous Driving and Collision Avoidance: Sensor Fusion, Modeling of the Environment, Control Architectures, Adaptive Cruise Control, Heading Control, Lanekeeping, Driver Warning Systems, Systems Based on Car-to-x-communication

Abstract

Feasibility studies on futuristic and autonomous shuttles are currently available in several media reports. These shuttle systems are promising a much higher level of automation than the previous status quo on the automotive market. The assistance systems of commercially available vehicles primarily support the driver through monitoring and warning functions as well as through simple control tasks in special situations such as parking maneuvers or driving on highways. In this article, we are presenting the proven results regarding highly automated decision making, movement planning and vehicle dynamic control, which was utilized in the people mover of the project "Optimized Transport System" (OTS). In the OTS Project IAV GmbH developed an highly automated, electric vehicle for local public transport on an urban route. The presented approach is based on classical rule-based decision making, model-based path planning, model-free trajectory planning as well as highly accurate trajectory tracking-control. A validation section at the end of the paper discusses the performance of the presented approach using real-world measurement data.

 

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