2 research outputs found
Project ARES: Driverless transportation system. Challenges and approaches in an unstructured road
This article belongs to the Special Issue Intelligent Control of Mobile Robotics.The expansion of electric vehicles in urban areas has paved the way toward the era of autonomous vehicles, improving the performance in smart cities and upgrading related driving problems. This field of research opens immediate applications in the tourism areas, airports or business centres by greatly improving transport efficiency and reducing repetitive human tasks. This project shows the problems derived from autonomous driving such as vehicle localization, low coverage of 4G/5G and GPS, detection of the road and navigable zones including intersections, detection of static and dynamic obstacles, longitudinal and lateral control and cybersecurity aspects. The approaches proposed in this article are sufficient to solve the operational design of the problems related to autonomous vehicle application in the special locations such as rough environment, high slopes and unstructured terrain without traffic rules.Research is supported by the Spanish Government through the CICYT projects (PID2019-104793RB-C31 and RTI2018-096036-B-C21), the Comunidad de Madrid through SEGVAUTO-4.0-CM (P2018/EMT-4362) and through EAI of the Ministry of Science and Innovation of the Government of Spain project RTI2018-095143-B-C2
Control and communication systems for automated vehicles cooperation and coordination
Menci贸n Internacional en el t铆tulo de doctorThe technological advances in the Intelligent Transportation Systems (ITS) are exponentially
improving over the last century. The objective is to provide intelligent and innovative services
for the different modes of transportation, towards a better, safer, coordinated and smarter
transport networks. The Intelligent Transportation Systems (ITS) focus is divided into two
main categories; the first is to improve existing components of the transport networks, while
the second is to develop intelligent vehicles which facilitate the transportation process. Different
research efforts have been exerted to tackle various aspects in the fields of the automated
vehicles. Accordingly, this thesis is addressing the problem of multiple automated vehicles
cooperation and coordination. At first, 3DCoAutoSim driving simulator was developed
in Unity game engine and connected to Robot Operating System (ROS) framework and
Simulation of Urban Mobility (SUMO). 3DCoAutoSim is an abbreviation for "3D Simulator
for Cooperative Advanced Driver Assistance Systems (ADAS) and Automated Vehicles
Simulator". 3DCoAutoSim was tested under different circumstances and conditions, afterward,
it was validated through carrying-out several controlled experiments and compare
the results against their counter reality experiments. The obtained results showed the efficiency
of the simulator to handle different situations, emulating real world vehicles. Next
is the development of the iCab platforms, which is an abbreviation for "Intelligent Campus
Automobile". The platforms are two electric golf-carts that were modified mechanically, electronically
and electrically towards the goal of automated driving. Each iCab was equipped
with several on-board embedded computers, perception sensors and auxiliary devices, in
order to execute the necessary actions for self-driving. Moreover, the platforms are capable
of several Vehicle-to-Everything (V2X) communication schemes, applying three layers of
control, utilizing cooperation architecture for platooning, executing localization systems,
mapping systems, perception systems, and finally several planning systems. Hundreds of
experiments were carried-out for the validation of each system in the iCab platform. Results
proved the functionality of the platform to self-drive from one point to another with minimal
human intervention.Los avances tecnol贸gicos en Sistemas Inteligentes de Transporte (ITS) han crecido de forma
exponencial durante el 煤ltimo siglo. El objetivo de estos avances es el de proveer de sistemas
innovadores e inteligentes para ser aplicados a los diferentes medios de transporte, con el fin
de conseguir un transporte mas eficiente, seguro, coordinado e inteligente. El foco de los ITS
se divide principalmente en dos categor铆as; la primera es la mejora de los componentes ya
existentes en las redes de transporte, mientras que la segunda es la de desarrollar veh铆culos
inteligentes que hagan m谩s f谩cil y eficiente el transporte. Diferentes esfuerzos de investigaci贸n
se han llevado a cabo con el fin de solucionar los numerosos aspectos asociados con
la conducci贸n aut贸noma. Esta tesis propone una soluci贸n para la cooperaci贸n y coordinaci贸n
de m煤ltiples veh铆culos. Para ello, en primer lugar se desarroll贸 un simulador (3DCoAutoSim)
de conducci贸n basado en el motor de juegos Unity, conectado al framework Robot Operating
System (ROS) y al simulador Simulation of Urban Mobility (SUMO). 3DCoAutoSim ha
sido probado en diferentes condiciones y circunstancias, para posteriormente validarlo con
resultados a trav茅s de varios experimentos reales controlados. Los resultados obtenidos
mostraron la eficiencia del simulador para manejar diferentes situaciones, emulando los
veh铆culos en el mundo real. En segundo lugar, se desarroll贸 la plataforma de investigaci贸n
Intelligent Campus Automobile (iCab), que consiste en dos carritos el茅ctricos de golf, que
fueron modificados el茅ctrica, mec谩nica y electr贸nicamente para darle capacidades aut贸nomas.
Cada iCab se equip贸 con diferentes computadoras embebidas, sensores de percepci贸n y
unidades auxiliares, con la finalidad de transformarlos en veh铆culos aut贸nomos. Adem谩s,
se les han dado capacidad de comunicaci贸n multimodal (V2X), se les han aplicado tres
capas de control, incorporando una arquitectura de cooperaci贸n para operaci贸n en modo
tren, diferentes esquemas de localizaci贸n, mapeado, percepci贸n y planificaci贸n de rutas.
Innumerables experimentos han sido realizados para validar cada uno de los diferentes sistemas
incorporados. Los resultados prueban la funcionalidad de esta plataforma para realizar
conducci贸n aut贸noma y cooperativa con m铆nima intervenci贸n humana.Programa Oficial de Doctorado en Ingenier铆a El茅ctrica, Electr贸nica y Autom谩ticaPresidente: Francisco Javier Otamendi Fern谩ndez de la Puebla.- Secretario: Hanno Hildmann.- Vocal: Pietro Cerr