Fast and Low-Cost Testing of Advanced Driver Assistance Systems using Small-Scale Vehicles. Issue 5 (2019)

• Record Type: Journal Article
• Authors: Rupp, Astrid; Tranninger, Markus; Wallner, Raffael; Zubača, Jasmina; Steinberger, Martin; Horn, Martin
• Is Part Of: IFAC-PapersOnLine. Volume 52:Issue 5(2019)
• Page Start: 34
• Page End: 39
• Publication Date: 2019
• Subjects: Rapid Control Prototyping -- Autonomous Driving -- Collision Avoidance: Sensor Fusion -- Modeling of the Environment -- Control Architectures -- Intelligent Vehicles -- Robotics Technology in Vehicles; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2019.09.006
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This article presents a small-scale testbed for automated driving. The main benefits of small-scale testing are safety, affordable hardware, and independence of traffic regulations and test tracks. The testbed using model trucks (scale 1:14) and model cars (scale 1:10) is described in detail and exemplary results using different advanced driver assistance systems are presented. The focus in this work lies on control engineering topics such as trajectory planning, tracking, prediction and estimation algorithms.