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The VILMA intelligent vehicle:an architectural design for cooperative control between driver and automated system

Journal of Modern Transportation 2018年第3期26卷 220-229页

作者： Olmer Garcia Giovani Bernardes Vitor janito vaqueiro ferreira Pablo Siqueira Meirelles Arthurde Miranda Neto Universidad de Bogota Jorge Tadeo Lozano BogotaColombia Robotics Intelligent and Complex Systems(RobSIC)LabUniversidade Federal de Itajuba′(UNIFEI)ItabiraMGBrazil Autonomous Mobility Lab at the Universidade Estadual de Campinas(UNICAMP)CampinasSP 13083-860Brazil Terrestrial Mobility Lab at the Universidade Federal de Lavras (UFLA)LavrasMG 37200-000Brazil

Intelligent autonomous vehicles have received a great degree of attention in recent years. Although the technology required for these vehicles is relatively advanced, the challenge is firstly to ensure that drivers can understand the capabilities and limitations of such systems and secondly to design a system that can handle the interaction between the driver and the automated intelligent system. In this study, we describe an approach using different strategies for an autonomous system and a driver to drive a vehicle cooperatively. The proposed strategies are referred to as cooperative planning and control and determine when and how the path projected by the autonomous system can be changed safely by the driver to a path that he wishes to follow. The first phase of the project is described, covering the design and implementation of an autonomous test vehicle. Experiments are carried out with a driver to test the cooperative planning and control concepts proposed here.

关键词： Autonomous vehicles Embedded systems Cooperative systems Visual servoing

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