System Architecture of a Driverless Electric Car in the Grand Cooperative Driving Challenge
System Architecture of a Driverless Electric Car in the Grand Cooperative Driving Challenge
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DOI：
10.1109/mits.2017.2776135
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发表时间：
2018-01
影响因子：
3.6
通讯作者：
Philippe Xu;G. Dherbomez;Elwan Héry;Abderrahmen Abidli;P. Bonnifait
中科院分区：
文献类型：
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作者：
Philippe Xu;G. Dherbomez;Elwan Héry;Abderrahmen Abidli;P. Bonnifait
本文介绍了一辆为参加2016年大合作驾驶挑战赛而设计的联网无人驾驶电动汽车的完整系统架构。这项挑战的主要目标之一是证明多辆自动驾驶汽车通过无线通信在公共道路上合作的可行性。考虑了包括双车道合并和交叉口合作在内的几种复杂合作场景。我们详细描述了使用开源PACPUS框架成功完成挑战中不同任务的实现。我们的描述涵盖了定位、映射、感知、控制、通信和人机界面。报道了挑战过程中实时记录的一些实验结果。
This paper presents the complete system architecture of a connected driverless electric car designed to participate in the Grand Cooperative Driving Challenge 2016. One of the main goals of this challenge was to demonstrate the feasibility of multiple autonomous vehicles cooperating via wireless communications on public roads. Several complex cooperative scenarios were considered, including the merging of two lanes and cooperation at an intersection. We describe in some detail an implementation using the open-source PACPUS framework that successfully completed the different tasks in the challenge. Our description covers localization, mapping, perception, control, communication and the human-machine interface. Some experimental results recorded in real-time during the challenge are reported.