Ecole d'ingénieur et centre de recherche en Sciences du numérique

Accounting for localization errors in a mixed-vehicle centralized control system

Patel, Raj Haresh; Härri, Jérôme; Bonnet, Christian

Mobil TUM 2017, International Scientific Conference on Mobility and Transport, July 4-5, 2017, Munich, Germany

Future autonomous vehicles are expected to coordinate controls to improve trac eciency, fuel consumption and most importantly safety. A centralized vehicle control system is a system where a centralized entity computes control inputs considering variables like vehicles' localization, velocity, etc. and transmits it to the vehicles to implement them. Due to the presence of localization errors, perceived localization of a vehicle is di erent from its true localization. Control inputs calculated using erroneous localization, when implemented on vehicles result into collisions. In this paper we propose a centralized control approach which takes into consideration localization errors for collision free braking in a mixed trac scenario. The performance of the proposed approach is evaluated under three di erent trac scenarios with vehicles having erroneous localization. Results show significant increase in the number of collisions avoided, while using proposed approach, as compared to scenarios where localization errors were not accounted for. Moreover, despite localization errors, the proposed approach can ensure upto the same number of collision avoidance as in a scenario where true localization was known.

Document Hal Bibtex

Titre:Accounting for localization errors in a mixed-vehicle centralized control system
Mots Clés:Autonomous vehicles, Manually driven vehicles, Collision avoidance, Localization inaccuracies, GPS, Mixed trac scenario
Type:Conférence
Langue:English
Ville:
Date:
Département:Systèmes de Communication
Eurecom ref:5247
Copyright: © Elsevier. Personal use of this material is permitted. The definitive version of this paper was published in Mobil TUM 2017, International Scientific Conference on Mobility and Transport, July 4-5, 2017, Munich, Germany and is available at :
Bibtex: @inproceedings{EURECOM+5247, year = {2017}, title = {{A}ccounting for localization errors in a mixed-vehicle centralized control system}, author = {{P}atel, {R}aj {H}aresh and {H}{\"a}rri, {J}{\'e}r{\^o}me and {B}onnet, {C}hristian}, booktitle = {{M}obil {TUM} 2017, {I}nternational {S}cientific {C}onference on {M}obility and {T}ransport, {J}uly 4-5, 2017, {M}unich, {G}ermany}, address = {}, month = {06}, url = {http://www.eurecom.fr/publication/5247} }
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