A Cooperating Autonomous Road Vehicle Platform

A Cooperating Autonomous Road Vehicle Platform
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协作式自动驾驶道路车辆平台

DOI：
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发表时间：
2013
期刊：
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通讯作者：
L. Guvenç
L. Guvenç
中科院分区：
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文献类型：
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作者：
Mümin Tolga Emirler;Ismail Meric Can Uygan;Ilker Altay;O. U. Acar;T. Keleş;B. A. Güvenç;L. Guvenç

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摘要 本文介绍了一种协作自动驾驶平台，用于自动路径跟踪和协作移动的研究工作。该平台在伊斯坦布尔奥坎大学的自动研究车辆Okanom 上实施。介绍了 Okanom 添加的用于协作自动驾驶的硬件和软件组件。解释了在奥卡诺姆实施的用于自主跟踪 GPS 航路点轨迹的 GPS/INS 系统。给出了该平台中使用的低级横向和纵向控制器，并提出了鲁棒参数空间横向转向控制器设计。使用经过实验验证的 Okanom 模型进行双车道变换仿真，以说明所设计的转向控制器的有效性。还介绍了正在进行的实验工作和过去的实验工作的信息。
Abstract A cooperating autonomous vehicle platform is introduced in this paper for research work on automated path following and cooperative mobility. This platform is implemented on the autonomous research vehicle Okanom of Istanbul Okan University. The hardware and software components added to Okanom for cooperative autonomous driving are presented. The GPS/INS system implemented in Okanom for autonomous following of GPS waypoint trajectories is explained. The low level lateral and longitudinal controllers used in this platform are given and a robust parameter space lateral steering controller design is presented. A double lane change simulation using the experimentally validated model of Okanom is used to illustrate the effectiveness of the designed steering controller. Information on experimental work in progress and past experimental work are also presented.