EAGER: Unified and Scalable Architecture for Low Speed Automated Shuttle Deployment in a Smart City

EAGER：用于智能城市中低速自动穿梭部署的统一且可扩展​​的架构

• 批准号: 1640308
• 负责人: Levent Guvenc
• 金额: $ 20万
• 依托单位: Ohio State University
• 依托单位国家: 美国
• 项目类别: Standard Grant
• 财政年份: 2016
• 资助国家: 美国
• 起止时间: 2016-09-01 至 2018-08-31
• 项目状态: 已结题
• 来源: https://www.nsf.gov/awardsearch/showAward?AWD_ID=1640308&HistoricalAwards=false
• 关键词: EAGER; Unified; Scalable; Architecture; Low

This NSF CPS EAGER project supports the SmartShuttle and SMOOTH II NIST GCTC technical cluster projects of the City of Columbus and the Ohio State University by developing a unified and scalable solution architecture for low speed automated shuttle deployment in a Smart City. This project will help the development of Columbus as a Smart City, having a broad impact on the mobility choices of its inhabitants. The targeted population of this project are the residents of the City of Columbus and more specifically the people who either work in or visit the Easton Town Center outdoor shopping center in Columbus. The proposed use of small electric shuttles as a first-mile, last-mile solution will improve their quality of life as a safe and reliable mobility solution. The results of the proof-of-concept demo will be used to quantify the potential societal impact as the number of people per day who will be able to use the proposed low speed automated shuttle solution in the Easton Town Center area and in other parts of Columbus in a potential future full scale deployment. The benefit to society of this project will be the development of a generic unified and scalable architecture for low speed automated driving shuttles that will be shared with GCTC teams and other interested researchers.Success of low speed automated shuttles in Smart Cities requires the use of a unified, scalable and replicable software, hardware, control and decision making architecture. This architecture should be easily adoptable and modifiable by different GCTC teams and other users and easily replicable for different deployment sites. This architecture should also be compliant with the automated driving architecture used by automotive OEMs in high speed automated driving. This project has three parts. The first part is the development of a unified software, hardware, control and decision making architecture that uses a model based design approach within the Simulink development environment consisting of generic Simulink interfaces for typical sensors like GPS, camera, lidar, radar and V2V modem, generic Simulink steering, throttle and brake actuators, all within a generic multi-agent Simulink automated driving architecture connected by generic and scalable control and decision making blocks. The second part is the development of a scalable and replicable method of designing longitudinal and lateral vehicle dynamics controllers using the parameter space approach to parametric robust control. The third part is an evaluation and rating system that will be developed to evaluate different automated driving control systems utilizing the unified and scalable architecture of the project. The results will be demonstrated using a proof-of-concept demo deployment in the Easton Town Center outdoor shopping area to solve first-mile and last-mile problems. Scalability and replicability of the proposed architecture will be demonstrated by application to a small two seater electric vehicle and a mid-sized hybrid electric sedan.

该NSF CPS EAGER项目通过为智能城市中的低速自动化穿梭机部署开发统一且可扩展的解决方案架构，支持哥伦布市和俄亥俄州州立大学的SmartShuttle和SMOOTH II NIST GCTC技术集群项目。该项目将有助于哥伦布发展成为一个智能城市，对居民的出行选择产生广泛影响。该项目的目标人群是哥伦布市的居民，更具体地说，是在哥伦布的伊斯顿镇中心户外购物中心工作或参观的人。建议使用小型电动穿梭机作为第一英里，最后一英里的解决方案，将提高他们的生活质量，作为一种安全可靠的移动解决方案。概念验证演示的结果将用于量化潜在的社会影响，即在未来可能的全面部署中，每天能够在伊斯顿镇中心地区和哥伦布其他地区使用拟议的低速自动化班车解决方案的人数。该项目的社会效益将是为低速自动驾驶班车开发一个通用的统一和可扩展的架构，并将与GCTC团队和其他感兴趣的研究人员共享。智能城市中低速自动驾驶班车的成功需要使用统一的，可扩展的和可复制的软件，硬件，控制和决策架构。该架构应易于被不同的GCTC团队和其他用户采用和修改，并易于在不同的部署站点复制。该架构还应符合汽车OEM在高速自动驾驶中使用的自动驾驶架构。该项目有三个部分。第一部分是统一的软件、硬件、控制和决策架构的开发，该架构在Simulink开发环境中使用基于模型的设计方法，包括用于典型传感器（如GPS、摄像头、激光雷达、雷达和V2V调制解调器）的通用Simulink接口，通用Simulink转向、油门和制动执行器，所有这些都在一个通用的多智能体Simulink自动驾驶架构中，由通用和可扩展的控制和决策模块连接。第二部分是一个可扩展的和可复制的方法设计纵向和横向车辆动力学控制器的参数空间方法参数鲁棒控制的发展。第三部分是一个评估和评级系统，将开发该系统，以评估利用该项目的统一和可扩展架构的不同自动驾驶控制系统。结果将通过在伊斯顿镇中心户外购物区进行概念验证演示部署来演示，以解决第一英里和最后一英里的问题。所提出的架构的可扩展性和可复制性将通过应用于小型双座电动汽车和中型混合动力电动轿车来证明。

项目成果

Use of Robust DOB/CDOB Compensation to Improve Autonomous Vehicle Path Following Performance in the Presence of Model Uncertainty, CAN Bus Delays and External Disturbances

• DOI: 10.4271/2018-01-1086
• 发表时间: 2018-04
• 期刊: ArXiv
• 作者: Haoan Wang;L. Guvenç

A unified architecture for scalable and replicable autonomous shuttles in a smart city

智慧城市中可扩展、可复制的自动驾驶班车的统一架构

• DOI: 10.1109/smc.2017.8123154
• 发表时间: 2017
• 期刊: and Cybernetics (SMC
• 作者: Gelbal, Sukru Yaren;Chandramouli, Nitish;Wang, Haoan;Aksun-Guvenc, Bilin;Guvenc, Levent
• 通讯作者: Guvenc, Levent

Localization and Perception for Control and Decision Making of a Low Speed Autonomous Shuttle in a Campus Pilot Deployment

校园试点部署中低速自主航天飞机控制和决策的定位和感知

• DOI: 10.4271/2018-01-1182
• 发表时间: 2018
• 期刊: SAE Technical Paper Series
• 作者: Wen, Bowen;Gelbal, Sukru Yaren;Aksun Guvenc, Bilin;Guvenc, Levent
• 通讯作者: Guvenc, Levent

SmartShuttle: a unified, scalable and replicable approach to connected and automated driving in a smart city

SmartShuttle：一种统一、可扩展且可复制的方法，用于智慧城市中的互联和自动驾驶

• DOI: 10.1145/3063386.3063761
• 发表时间: 2017
• 期刊: SCOPE '17 Proceedings of the 2nd International Workshop on Science of Smart City Operations and Platforms Engineering
• 作者: Gelbal, Sukru Yaren;Guvenc, Bilin Aksun;Guvenc, Levent
• 通讯作者: Guvenc, Levent

Elastic band based pedestrian collision avoidance using V2X communication

• DOI: 10.1109/ivs.2017.7995731
• 发表时间: 2017
• 期刊: 2017 IEEE Intelligent Vehicles Symposium (IV)
• 作者: S. Y. Gelbal;Sibel Arslan;Haoan Wang;B. A. Güvenç;L. Guvenç