Development of Russian Driverless Electric Vehicle

The article describes the main development and testing aspects of an emergency braking function for an autonomous vehicle. The purpose of this function is to prevent the vehicle from collisions with obstacles, either stationary or moving. An algorithm is proposed to calculate deceleration for the automated braking, which takes into account the distance to the obstacle and velocities of both the vehicle and the obstacle. In addition, the algorithm adapts to deviations from the required deceleration, which are inevitable in the real-world practice due to external and internal disturbances and unaccounted dynamics of the vehicle and its systems. The algorithm was implemented as a part of the vehicle’s mathematical model. Simulations were conducted, which allowed to verify algorithm’s operability and tentatively select the system parameters providing satisfactory braking performance of the vehicle. The braking function elaborated by means of modeling then was connected to the solenoid braking controller of the experimental autonomous vehicle using a real-time prototyping technology. In order to estimate operability and calibrate parameters of the function, outdoor experiments were conducted at a test track. A good consistency was observed between the test results and simulation results. The test results have proven correct operation of the emergency braking function, acceptable braking performance of the vehicle provided by this function, and its capability of preventing collisions.

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“…The vehicle that is being developed in the project is based on a heavily modified chassis of a production cargo vehicle [14] (see Fig. 3).…”

Section: The Experimental and The Prototyping Vehiclesmentioning

confidence: 99%

“…Although this vehicle's parameters are far from those of the special-purpose chassis, it nevertheless was considered suitable for the system prototyping purposes. The vehicle that is being developed in the project is based on a heavily modified chassis of a production cargo vehicle [14] (see Fig. 3).…”

Section: The Experimental and The Prototyping Vehiclesmentioning

confidence: 99%

Development and Testing of a Collision Avoidance Braking System for an Autonomous Vehicle

Kulikov*¹,

Ulchenko²,

Chaplygin³

2019

IJITEE

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“…Virtual data sensors are comprised of algorithmic designs which replace physical sensors of object state variables. Development of such designs requires for creation of new mathematical models, procedures of solution of ill-conditioned problems and algorithms of data processing [12,13].…”

Section: B Algorithmmentioning

confidence: 99%

Dynamic Stabilization of Unmanned Vehicle Convoy in Road Climatic Environment of the Russian Federation

Buznikov*,

Saikin,

Elkin

et al. 2019

IJEAT

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This work analyzes experimental results of traffic control of unmanned vehicle convoy (UMV) with manned master vehicle in Russian road climatic environment. The problem of obstacle avoidance in driving lanes and position stabilization on preset motion path is reduced to the problem of dynamic stabilization of state variables. Its solution is aided by virtual data sensors requiring for minimum configuration of engineering tools. Relative positions of vehicles are determined by algorithms of combined data processing of navigation systems and machine vision which make it possible to solve this problem without visible road markings and radio vision for satellite navigation. Experimental results show that the developed control algorithms of UMV convoy are capable to solve the problem of its dynamic stabilization in actual traffic environment. The developed control algorithms of traction, braking, and path provide efficient operation on all types of surfaces including slippery roads. Scientific novelty of this work is comprised of experimental verification of efficiency of the developed solutions for advanced unmanned vehicles in Russia.

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“…The experimental vehicle to be converted into an autonomous one was derived from a chassis of a production commercial vehicle, which has undergone substantial modifications [13] (see Fig. 2).…”

Section: The Experimental Vehiclesmentioning

confidence: 99%

Using Real World Data in Virtual Development and Testing of a Path Tracking Controller for an Autonomous Vehicle

Kulikov*¹,

Ulchenko²,

Chaplygin³

2019

IJITEE

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The article describes an approach to development and testing of a path tracking function for an autonomous vehicle. The essence of the approach consists in combining experimental data and mathematical modeling in order to simulate operation of a path-tracking regulator in real world maneuvers. The procedure can be divided into two stages. The first one implies field-testing of the vehicle under control of a human driver with logging of the essential dynamic variables including the driving trajectory. Then the obtained data is used to validate the model of vehicle dynamics being a tool for further simulations. At the second stage, a simulation is performed with tracking of the previously logged trajectory by an automatic regulator. The results of these steps allow for comparison between the human and automatic controls with assessment of pros and cons of the latter and the ways of improving its performance. The proposed approach was implemented within a research and development project aimed at building of an experimental autonomous vehicle. The article describes the obtained results as well as the experiments and the mathematical model used for implementation of the said approach.

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Development of Russian Driverless Electric Vehicle

Cited by 4 publications

References 7 publications

Development and Testing of a Collision Avoidance Braking System for an Autonomous Vehicle

Development and Testing of a Collision Avoidance Braking System for an Autonomous Vehicle

Dynamic Stabilization of Unmanned Vehicle Convoy in Road Climatic Environment of the Russian Federation

Using Real World Data in Virtual Development and Testing of a Path Tracking Controller for an Autonomous Vehicle

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