Arquitectura dual-modular para desarrollos y validación de módulos de decisión y control en vehículos automatizados

R. Lattarulo, J. A. Matute, J. Pérez, V. Gomez Garay

Resumen

El avance logrado durante las últimas décadas en los sistemas avanzados de asistencia a la conducción (ADAS, Advanced Driver Assistance System) ha posibilitado mejorar múltiples aspectos en los vehículos comerciales, como por ejemplo la seguridad, robustez de los sistemas, eficiencia energética, detección de peatones, aparcamiento asistido y ayudas a la navegación, entre otros. Algunos desarrollos, como el control lateral y la generación óptima de trayectorias en tiempo real, están en pleno desarrollo. En este trabajo se presenta una arquitectura dual-modular cuyas principales características son su capacidad para integrar y probar nuevos algoritmos de control y decisión (modular), y la posibilidad de llevar a cabo pruebas en entornos simulados y en plataformas reales (dual), reduciendo los tiempos y costes de desarrollo. Con esta arquitectura se han podido probar diferentes técnicas de control y de generación de trayectorias, realizando además simulaciones, y comparando los resultados obtenidos con un vehículo real.


Palabras clave

Automoción; Vehículos Automatizados e Inteligentes; Guiado; Arquitecturas de Control; Planificación y Seguimiento de Trayectorias; Modelado Multicuerpo

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Referencias

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