Maniobras cooperativas aplicadas a vehículos automatizados en entornos virtuales y reales
Enviado: 20-12-2018
|Aceptado: 02-03-2019
|Publicado: 01-01-2020
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Palabras clave:
Maniobras Cooperativas, Marco Cooperativo Híbrido, ACC, Stop & Go, ITS, Lógica Borrosa
Agencias de apoyo:
Proyecto SerIoT H2020 (Con número de concesiòn 780139)
Resumen:
En los últimos años los Sistemas Inteligentes de Transporte, ITS (del inglés, Intelligent Transportation System) se han convertido en una realidad dentro de la sociedad, aportando soluciones y beneficios a la conducción. Con el fin de contribuir a su desarrollo, el presente trabajo describe un marco cooperativo híbrido capaz de validar maniobras entre múltiples vehículos (virtuales y reales), con el fin de disminuir los costos, tiempos y riesgos asociados al ajuste de los controladores. Para su validación se presentan 3 casos de estudios. El primero consiste en utilizar dos vehículos virtuales para realizar un Control de Crucero Adaptativo, ACC (del inglés, Adaptive Cruise Control) con seguidor de trayectoria. El segundo, emplea un coche real como seguidor y un coche virtual como líder para la maniobra de Stop & Go. Finalmente, se utilizan dos vehículos reales para el ACC. Los algoritmos de seguimiento empleados para las maniobras cooperativas están basados en controladores de lógica borrosa. Los resultados demuestran la versatilidad del marco propuesto, al poder ejecutar las maniobras correctamente en cada uno de los entornos.
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