System sterowania autonomicznego pojazdu A-EVE

• Autorzy: Długosz Marek , Roman Michał , Węgrzyn Paweł

Identyfikatory

DOI

10.15199/48.2021.08.08

Warianty tytułu

Control system of the autonomous vehicle A-EVE

• Języki publikacji: PL

Abstrakty

PL

W artykule opisano koncepcję układu sterowania prototypowego autonomicznego pojazdu elektrycznego A-EVE. Opracowano koncepcję dwupoziomowego układu sterowania który składa się z układu sterowania niskopoziomowego i wysokopoziomowego. W pracy opisano kluczowe elementy autonomicznego pojazdu A-EVE takie jak sensory, układ sterowania, układy bezpieczenstwa. Przeanalizowano wpływ flagi kompilacji programu sterownika niskiego poziomu na czas wykonywania programu sterowania.

EN

The paper presented the concept of the control system of the prototype electric autonomous vehicle A-EVE. The proposed control system is a two-level of control system which contain a low level and a high level control system. The paper describes the key elements of the autonomous A-EVE vehicle, such as sensors, control system, and safety systems. Additionally, the impact of the program compilation flag for the low-level control program execution time was analyzed.

Słowa kluczowe

PL

autonomia; autonomiczne pojazdy; system sterowania; elektryczny pojazd

EN

autonomous; autonomous vehicle; control system; electrical vehicle

• Wydawca: Wydawnictwo SIGMA-NOT
• Czasopismo: Przegląd Elektrotechniczny
• Rocznik: 2021
• Tom: R. 97, nr 8
• Strony: 42--47
• Opis fizyczny: Bibliogr. 28 poz., rys.

Twórcy

autor

Długosz Marek

• AGH Akademia Górniczo-Hutnicza Wydział Elektrotechniki, Automatyki, Informatyki i Inzynierii Biomedycznej al. A. Mickiewicza 30, 30-059 Kraków, Polska

autor

Roman Michał

• AGH Akademia Górniczo-Hutnicza Wydział Elektrotechniki, Automatyki, Informatyki i Inzynierii Biomedycznej al. A. Mickiewicza 30, 30-059 Kraków, Polska

autor

Węgrzyn Paweł

• AGH Akademia Górniczo-Hutnicza Wydział Elektrotechniki, Automatyki, Informatyki i Inzynierii Biomedycznej al. A. Mickiewicza 30, 30-059 Kraków, Polska

Bibliografia

• [1] Paul Gao, Hans-Werner Kaas, Det Mohr, and Dominik Wee. Automotive revolution–perspective towards 2030 how the convergence of disruptive technology-driven trends could transform the auto industry. Advanced Industries, McKinsey & Company, 2016.
• [2] Peter Davidson and Anabelle Spinoulas. Autonomous vehicles: what could this mean for the future of transport. In Australian Institute of Traffic Planning and Management (AITPM) National Conference, Brisbane, Queensland, 2015.
• [3] Hong Cheng. Autonomous intelligent vehicles: theory, algorithms, and implementation. Advances in computer vision and pattern recognition. Springer, London, 2011.
• [4] S M Veres, L Molnar, N K Lincoln, and C P Morice. Autonomous vehicle control systems — a review of decision making. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 225(2):155–195, Mar 2011.
• [5] L. Xu, Y. Wang, H. Sun, J. Xin, and N. Zheng. Design and implementation of driving control system for autonomous vehicle. In 17th International IEEE Conference on Intelligent Transportation Systems (ITSC), pages 22–28, Oct 2014.
• [6] K. Jo, J. Kim, D. Kim, C. Jang, and M. Sunwoo. Development of autonomous car—part 1: Distributed system architecture and development process. IEEE Transactions on Industrial Electronics, 61(12):7131–7140, Dec 2014.
• [7] K. Jo, J. Kim, D. Kim, C. Jang, and M. Sunwoo. Development of autonomous car—part 2: A case study on the implementation of an autonomous driving system based on distributed architecture. IEEE Transactions on Industrial Electronics, 62(8):5119–5132, Aug 2015.
• [8] J. Pérez, V. Milanés, and E. Onieva. Cascade architecture for lateral control in autonomous vehicles. IEEE Transactions on Intelligent Transportation Systems, 12(1):73–82, March 2011.
• [9] R. Behringer, S. Sundareswaran, B. Gregory, R. Elsley, B. Addison, W. Guthmiller, R. Daily, and D. Bevly. The darpa grand challenge - development of an autonomous vehicle. In IEEE Intelligent Vehicles Symposium, 2004, pages 226–231, June 2004.
• [10] Sebastian Thrun, Mike Montemerlo, Hendrik Dahlkamp, David Stavens, Andrei Aron, James Diebel, Philip Fong, John Gale, Morgan Halpenny, Gabriel Hoffmann, Kenny Lau, Celia Oakley, Mark Palatucci, Vaughan Pratt, Pascal Stang, Sven Strohband, Cedric Dupont, Lars-Erik Jendrossek, Christian Koelen, Charles Markey, Carlo Rummel, Joe van Niekerk, Eric Jensen, Philippe Alessandrini, Gary Bradski, Bob Davies, Scott Ettinger, Adrian Kaehler, Ara Nefian, and Pamela Mahoney. Stanley: The robot that won the darpa grand challenge. Journal of Field Robotics, 23(9):661–692, 2006.
• [11] Chris Urmson, Chris Baker, John Dolan, Paul Rybski, Bryan Salesky, William Whittaker, Dave Ferguson, and Michael Darms. Autonomous driving in traffic: Boss and the urban challenge. AI Magazine, 30(2):17, Jun. 2009.
• [12] Luke Fletcher, Seth Teller, Edwin Olson, David Moore, Yoshiaki Kuwata, Jonathan How, John Leonard, Isaac Miller, Mark Campbell, Dan Huttenlocher, Aaron Nathan, and Frank-Robert Kline. The mit–cornell collision and why it happened. Journal of Field Robotics, 25(10):775–807, 2008.
• [13] P. Skruch, M. Długosz, and W. Mitkowski. Mathematical methods for verification of microprocessor-based pid controllers for improving their reliability. Eksploatacja i Niezawodno´s´c, Vol. 17, no. 3:327–333, 2015.
• [14] Wojciech Mitkowski, Marta Zagórowska, and Waldemar Bauer. Comparative analysis of dc motor control system. Applied Mechanics and Materials, 817:111–121, Jan 2016.
• [15] Krzysztof Oprzedkiewcz, Wojciech Mitkowski, and Edyta Gawin. The plc implementation of fractional-order operator using cfe approximation. Advances in Intelligent Systems and Computing, pages 22–33, 2017.
• [16] Marek Długosz, Michał Roman, and Paweł W˛egrzyn. Autonomouse electrical vehicle a-eve. http://shorturl.at/vxAI9, June 2020. [Online; accessed 04-May-2021].
• [17] W. Zong, C. Zhang, Z. Wang, J. Zhu, and Q. Chen. Architecture design and implementation of an autonomous vehicle. IEEE Access, 6:21956–21970, 2018.
• [18] Michał Roman. Design and implementation of autonomous vehicle controller compatible with ros. Master’s thesis, AGH Unievrsity of Science and Technology, 2019.
• [19] Camine Noviello. Masterig STM32. Leanpub, 2018.
• [20] Loubna BELHAMEL, Arturo BUSCARINO, Antonio CUCUCCIO, Luigi FORTUNA, and Gaetano RASCONA. Model-based design streamlines for stm32 motor control embedded software system. In 2020 7th International Conference on Control, Decision and Information Technologies (CoDIT), volume 1, pages 223–228. IEEE, 2020.
• [21] Junqing Wei, Jarrod M Snider, Tianyu Gu, John M Dolan, and Bakhtiar Litkouhi. A behavioral planning framework for autonomous driving. In 2014 IEEE Intelligent Vehicles Symposium Proceedings, pages 458–464. IEEE, 2014.
• [22] M. Komorkiewicz, K. Turek, P. Skruch, T. Kryjak, and M. Gorgon. Fpga-based hardware-in-the-loop environment using video injection concept for camera-based systems in automotive applications. In 2016 Conference on Design and Architectures for Signal and Image Processing (DASIP), pages 183–190, Oct 2016.
• [23] K.Martin Sagayam, Andrew J, Abhishikt Kadam, and Dang Hien. Vehicle automation and car-following models for accident avoidance. Przegla˛d elektrotechniczny, 2020(1):120–125, 2020.
• [24] Safat BWali, Mohammad A Hannan, Aini Hussain, and Salina A Samad. Comparative survey on traffic sign detection and recognition: a review. Przeglad Elektrotechniczny, 1(12):40–44, 2015.
• [25] M. Quigley, B. Gerkey, and W.D. Smart. Programming Robots with ROS: A Practical Introduction to the Robot Operating System. O’Reilly Media, 2015.
• [26] T. Straszheim, B. Gerkey, and S. Cousins. The ros build system. IEEE Robotics Automation Magazine, 18(2):18–122, June 2011.
• [27] André-Marcel Hellmund, Sascha Wirges, Ömer ¸ Sahin Ta¸s, Claudio Bandera, and Niels Ole Salscheider. Robot operating system: A modular software framework for automated driving. In 2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC), pages 1564–1570. IEEE, 2016.
• [28] Artemij Fedosejev. React. js essentials. Packt Publishing Ltd, 2015.

Uwagi

Opracowanie rekordu ze środków MNiSW, umowa Nr 461252 w ramach programu "Społeczna odpowiedzialność nauki" - moduł: Popularyzacja nauki i promocja sportu (2021).