Real-time planning for adjacent consecutive intersections

International audienceReal-time path planning constitutes one of the hot topics when developing automated driving. Different path planning techniques have been studied in both the robotics and automated vehicles fields trying to improve the trajectory generation and its tracking. In this paper, a novel local path planning algorithm combining both off-line and real-time generation for automated vehicles in urban environments is presented. It takes advantage of an off-line planning strategy to achieve a smooth and continuous trajectory generation with adjacent consecutive intersections. Therefore, this approach allows a smooth and continuous trajectory by means of planning consecutive curves concurrently, i.e., it will plan the upcoming curve and the following one in advance, taking into account the constraints of the infrastructure and the physical limitations of the vehicle. The real-time planning algorithm has been tested in simulation based on the INRIA-RITS vehicles architecture. The results obtained show an improvement in the smoothness, continuity and comfort of the generated paths

A Two-Stage Real-Time Path Planning: Application to the Overtaking Manuever

This paper proposes a two-stage local path planning approach to deal with all kinds of scenarios (i.e. intersections, turns, roundabouts). The first stage carries out an off-line optimization, considering vehicle kinematics and road constraints. The second stage includes all dynamic obstacles in the scene, generating a continuous path in real-time. Human-like driving style is provided by evaluating the sharpness of the road bends and the available space among them, optimizing the drivable area. The proposed approach is validated on overtaking scenarios where real-time path planning generation plays a key role. Simulation and real results on an experimental automated platform provide encouraging results, generating real-time collision-free paths while maintaining the defined smoothness criteria.INRIA and VEDECOM Institutes under the Ph.D. Grant; 10.13039/501100011688-Electronic Components and Systems for European Leadership (ECSEL) Project AutoDriv

Modular and Reconfigurable Platform as New Philosophy for the Development of Updatable Vehicular Electronics

[EN] A new conception in the development of Electronic Control Units (ECUs), which are also called On-Board Units (OBUs), is discussed in this paper from an ontological vision oriented to the compatibility of vehicles with future technologies in the automotive field. This work also provides a new methodology in the design of On-Board vehicle units. The proposed technique is based on the concept of modular electronic units that can change their functionality depending on the modules they are consisted of. The study was initially designed at the theoretical level, analysing the problems in the sector in the face of the coexistence between vehicles today and those that are bound to appear in the near future, and that will incorporate capabilities making them connected and even autonomous. Additionally, a fully operational prototype has been developed so as to ascertain the possibilities of the proposed solution.[ES] Se presenta una nueva concepción en el desarrollo de Unidades Electrónicas de Control (ECU), también denominadas Unidades de a Bordo (OBU), desde una visión ontológica orientada en la compatibilización de los vehículos con las futuras tecnologías emergentes en el campo de la automoción. Se comienza por un estudio teórico que analiza la problemática en el sector del transporte que va a presentar la convivencia entre los vehículos actuales y los que van a ir apareciendo en el futuro; y que vendrán influenciados por conceptos tales como los vehículos conectados o los vehículos autónomos. Este artículo también aporta una nueva metodología en el diseño de unidades vehiculares de a bordo, basada en el concepto de unidades electrónicas modulares que definen su funcionalidad en base a los módulos que le sean acoplados. Adicionalmente se ha desarrollado un prototipo completo y totalmente funcional con el fin de analizar las posibilidades de la solución propuesta.Este trabajo ha sido realizado parcialmente gracias al apoyo recibido mediante la resolución del 31/07/2014, publicada por la Universidad de Castilla-La Mancha, que establece las bases reguladoras de la convocatoria para contratos predoctorales con objeto de preparar nuevos investigadores bajo el Plan Propio de I+D+i. [2014/10340]Cañas, V.; García, A.; De Las Morenas, J.; Blanco, J. (2019). Plataforma Modular Reconfigurable como Nueva Filosofía para el Desarrollo de Electrónica Vehicular Actualizable. Revista Iberoamericana de Automática e Informática. 16(2):200-211. https://doi.org/10.4995/riai.2018.9863SWORD20021116