Arquitectura dual-modular para desarrollos y validación de módulos de decisión y control en vehículos automatizados

• Lattarulo, R. ^[1] ; Matute, J. A. ^[1] ; J. Pérez ^[1] ; Gomez Garay, V. ^[2]
  1. [1] Tecnalia

     Tecnalia

     Derio, España

     
  2. [2] Universidad del País Vasco/Euskal Herriko Unibertsitatea

     Universidad del País Vasco/Euskal Herriko Unibertsitatea

     Leioa, España

     
• Localización: Revista iberoamericana de automática e informática industrial ( RIAI ), ISSN-e 1697-7920, Vol. 17, Nº. 1, 2020, págs. 66-75
• Idioma: español
• DOI: 10.4995/riai.2019.9542
• Títulos paralelos:
  • Dual-modular architecture for developing and validation of decision and control modules for automated vehicles
• Enlaces
  • Texto completo
• Resumen
  • español

    El avance logrado durante las últimas décadas en los sistemas avanzados de asistencia a la conducción (ADAS, Advanced Driver Assistance System) ha posibilitado mejorar múltiples aspectos en los vehículos comerciales, como por ejemplo la seguridad, robustez de los sistemas, eficiencia energética, detección de peatones, aparcamiento asistido y ayudas a la navegación, entre otros. Algunos desarrollos, como el control lateral y la generación óptima de trayectorias en tiempo real, están en pleno desarrollo. En este trabajo se presenta una arquitectura dual-modular cuyas principales características son su capacidad para integrar y probar nuevos algoritmos de control y decisión (modular), y la posibilidad de llevar a cabo pruebas en entornos simulados y en plataformas reales (dual), reduciendo los tiempos y costes de desarrollo. Con esta arquitectura se han podido probar diferentes técnicas de control y de generación de trayectorias, realizando además simulaciones, y comparando los resultados obtenidos con un vehículo real.

  • English

    In last decades, the advances done in the Advanced Driver Assistance System (ADAS) have improved multiple aspects in the vehicles, as: safety, system robustness, power eciency, pedestrian detection and road lanes, assisted parking, navigation, etc. In the other hand, lateral control and generation of optimal trajectories in real time, are under development. In this work, we present a dual modular architecture. Its principal characteristics are the capacity of integrate and test new control algorithms, and the possibility of making tests with the simulation environment and the real platform (dual), reducing the development time. This architecture has been used to test dierent techniques for control and trajectory generation. Furthermore, the simulations have been done with a high level of precision comparing them with a real vehicle.

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