Development of the control system for the Vislab Intercontinental Autonomous Challenge

Abstract

Abstract-This paper presents the control system of an autonomous vehicle capable of perceiving and describing the environment using different inputs, such as GPS waypoints, roadways borders and lines, leader vehicles, and obstacles to be avoided. The controller has been implemented and tested for the VisLab Intercontinental Autonomous Challenge, a long intercontinental trip that aims to demonstrate capabilities of modern autonomous vehicles. To fulfill this mission a generalpurpose real-time motion planning system was designed and implemented. This pathplanner, based on the estimation of feasible trajectories on a cost map, is described and analyzed. System perfomance has been evaluated during tests: experimental results have demonstrated the capability of the system in vehicle following.

The VisLab Intercontinental Autonomous Challenge: an extensive test for a platoon of intelligent vehicles

“…The VIAC autonomous vehicles control system (Broggi et al, 2010) is capable of using different inputs, such as GPS waypoints, roadways borders and lines, the leader vehicle and obstacles. To fulfi ll its mission a general-purpose real-time motion planning system, based on the estimation of feasible trajectories on a cost map, was designed and implemented.…”

Robust egomotion for large-scale trajectories

“…The geometric moment of the image pixel I(x, y) with respect to a square neighbourhood of size (2N +1), is computed in (1), as shown in [12]:…”

“…A significant number of those applications are oriented to assist manned vehicles, including on road vehicles [1,2]. However, there are other applications were these vehicles are required to operate unmanned and fully autonomous because of security and safety requirements [3] or due to limited size of the platforms, e.g.…”

Low-speed cooperative car-following fuzzy controller for cybernetic transport systems

“…Among the most significant results, two of them are pretty well-known at an international level. On one hand, the University of Parma research team carried out an intercontinental autonomous trip using two electric [2]. On the other hand, Google driverless cars have carried out several public exhibitions showing autonomous capabilities.…”