Joshué Pérez Rastelli

Dynamic trajectory generation using continuous-curvature algorithms for door to door assistance vehicles

In this paper, an algorithm for dynamic path generation in urban environments is presented, taking into account structural and sudden changes in straight and bend segments (e.g. roundabouts and intersections). The results present some improvements in path generation (previously hand plotted) considering parametric equations and continuous-curvature algorithms, which guarantees a comfortable lateral acceleration. This work is focused on smooth and safe path generation using road and obstacle detection information. Finally, some simulation results show a good performance of the algorithm using different ranges of urban curves. The main contribution is an Intelligent Trajectory Generator, which considers infrastructure and vehicle information. This method is recently used in the framework of the project CityMobil21, for urban autonomous guidance of Cybercars.

Fuzzy logic steering control of autonomous vehicles inside roundabouts

Graphical abstractDisplay Omitted HighlightsThis paper shows a real experiment with autonomous vehicles in urban roundabouts.A parametric curve generation in used in the path planning, which in divided in three stages: entrance, inside and exit of the roundabout.Lane changes experiments show that the controller proposed (based on fuzzy logic) is stable.The range of speed used in the experiment is between 8km/h and 24km/h. The system was designed for 20km/h max.The real situation experiments show that our proposal is valid for urban scenarios. The expansion of roads and the development of new road infrastructures have increased in recent years, linked to the population growing in large cities. In the last two decades, roundabouts have largely replaced traditional intersections in many countries. They have the advantage of allowing drivers continuous flow when traffic is clear, without the usual delay caused by traffic lights. Although roundabouts with and without traffic-signal control have been widely used and considered in the literature, driverless control on roundabouts has not been studied in depth yet. The behavior of autonomous vehicles in roundabouts can be divided into three stages: entrance, inside, and exit. The first and last may be handled as an extension of intersections. However, autonomous driving on the roundabout requires special attention. In this paper, the design and implementation of a fuzzy logic system for the steering control of autonomous vehicles inside the roundabout is proposed. Cascade architecture for lateral control and parametric trajectory generation are used. Fuzzy control has proved to be easy to define using expert knowledge. Experiments with a real prototype have been carried out, taking into account different speed profiles and lane change maneuvers inside the roundabout, with very satisfactory results.

Arbitration for balancing control between the driver and ADAS systems in an automated vehicle: Survey and approach

Automated functions for real scenarios have been increasing in last years in the automotive industry. Many research contributions have been done in this field. However, other problems have come to the drivers: When should they (the drivers or the new automated systems) be able to take control of the vehicle? This question has not a simple answer; it depends on different conditions, such as: the environment, driver condition, vehicle capabilities, fault tolerance, among others. For this reason, in this work we will analyze the acceptability to the ADAS functions available in the market, and its relation with the different control actions. In this paper a survey on arbitration and control solutions in ADAS is presented. It will allow to create the basis for future development of a generic ADAS control (the lateral and longitudinal behavior), based on the integration of the application request, the driver behavior and driving conditions in the framework of the DESERVE project (DEvelopment platform for Safe and Efficient dRiVE 1, a ARTEMIS project 2012-2105). The main aim of this work is to allow the development of a new generation of ADAS solutions where the control could be effectively shared between the vehicle and the driver. Different solutions of shared control have been analyzed. A first approach is proposed, based on the presented solutions.

Control agents for autonomous vehicles in urban and highways scenarios

Abstract In the last years, several intelligent systems have been deployed in mass-produced vehicles. The Advanced Driver Assistance Systems (ADAS), intelligent infrastructures and autonomous driving maneuvers have significantly contributed to the implementation of intelligent systems both on the roads and in urban areas. Thanks to the research done by many groups and projects it is possible to find safer and more comfortable vehicles. Some examples are: Antilock Brake System (ABS), Cruise control (CC), Automatic parking and Electronic Stability Control (ESC), among others. At this time, it is not a utopia to think that, in a close future, autonomous vehicle will coexist with other conventional vehicles, interacting with them. In this work, a control architecture for autonomous vehicles have been tested, both for individual and cooperative maneuvers in urban and highway scenarios. Using previous contributions in the lateral and longitudinal control, different experiments have proved the modular control architecture, independently of the vehicle and the scenario used. To carry the validation, different platforms have been used: electric and gasoline-propelled vehicles. Straight and curve segments, blocked roads, commucations between infrastructure and vehicles and high speed experiments have been tested. Furthermore, the intelligent control system, based on fuzzy logic, that includes human knowledge, is easy to design and tune, and can be extended to different maneuvers.