Maniobras cooperativas aplicadas a vehículos automatizados en entornos virtuales y reales

C. E. Hidalgo, M. Marcano, G. Fernández, J. M. Pérez

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.


Palabras clave

Maniobras Cooperativas; Marco Cooperativo Híbrido; ACC; Stop & Go; ITS; Lógica Borrosa

Clasificación por materias

Automoción; Control borroso y sistemas borrosos;

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Referencias

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Sensors  vol: 19  num.: 16  primera página: 3515  año: 2019  
doi: 10.3390/s19163515



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