Concept and Validation of a Guidance Approach for Highly Automated Shuttles. Issue 5 (2019)

• Record Type: Journal Article
• Authors: Schrödel, Frank; Freese, Matthias
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 5(2019)
• Page Start: 359
• Page End: 365
• Publication Date: 2019
• Subjects: Decision Making -- Path -- Trajectory Planning -- Automatic Control -- Automated Guided Vehicles; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.09.058
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Feasibility studies on futuristic and autonomous shuttles are currently available in several media reports. These shuttle systems are promising a much higher level of automation than the previous status quo on the automotive market. The assistance systems of commercially available vehicles primarily support the driver through monitoring and warning functions as well as through simple control tasks in special situations such as parking maneuvers or driving on highways. In this article, we are presenting the proven results regarding highly automated decision making, movement planning and vehicle dynamic control, which was utilized in the people mover of the project "Optimized Transport System" (OTS). In the OTS Project IAV GmbH developed an highly automated, electric vehicle for local public transport on an urban route. The presented approach is based on classical rule-based decision making, model-based path planning, model-free trajectory planning as well as highly accurate trajectory tracking-control. A validation section at the end of the paper discusses the performance of the presented approach using real-world measurement data.