自動運転・コネクテッド車の実験用プロトタイププラットフォームの設計
Design of a prototypical platform for autonomous and connected vehicles
自動運転研究向けに、遠隔操作機構やセンサ構成などのハードウェアと、自己位置推定・環境認識・経路計画・制御などのソフトウェアを統合した実験車両プラットフォームを構築し、市街地風環境での走行試験で性能を検証した。
著者: Stefano Arrigoni, Simone Mentasti, Federico Cheli, Matteo Matteucci, Francesco Braghin
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Self-driving technology is expected to revolutionize different sectors and is seen as the natural evolution of road vehicles. In the last years, real-world validation of designed and virtually tested solutions is growing in importance since simulated environments will never fully replicate all the aspects that can affect results in the real world. To this end, this paper presents our prototype platform for experimental research on connected and autonomous driving projects. In detail, the paper presents the overall architecture of the vehicle focusing both on mechanical aspects related to remote actuation and sensors set-up and software aspects by means of a comprehensive description of the main algorithms required for autonomous driving as ego-localization, environment perception, motion planning, and actuation. Finally, experimental tests conducted in an urban-like environment are reported to validate and assess the performances of the overall system.
