Reproducible transverse dynamics vehicle evaluation in the double lane change

Müller-Beßler, Bernhard; Henze, Roman; Küçükay, Ferit

doi:10.1007/bf03225002

Cited by 2 publications

(1 citation statement)

References 1 publication

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“…The vehicles developed by Volkswagen jointly with Stanford, namely Stanley [1] and Junior [2], were among the participants in these races. In parallel, Volkwagen's autonomous driving research has continued in other areas including: vehicle dynamics evaluation in 2003 with the Steering Robot [3], reproducible driving at the vehicle dynamics limit in 2006 with the GTI 53+1 [4], vehicle following also in 2006 with the Twin Car [5], and highway driving in 2008 with the iCar [6].…”

Section: Introductionmentioning

confidence: 99%

Realizing Autonomous Valet Parking with automotive grade sensors

Jeevan

Harchut

Mueller-Bessler

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The availability of several Advanced Driver Assistance Systems has put a correspondingly large number of inexpensive, yet capable sensors on production vehicles. By combining this reality with expertise from the DARPA Grand and Urban Challenges in building autonomous driving platforms, we were able to design and develop an Autonomous Valet Parking (AVP) system on a 2006 Volkwagen Passat Wagon TDI using automotive grade sensors. AVP provides the driver with both convenience and safety benefits -the driver can leave the vehicle at the entrance of a parking garage, allowing the vehicle to navigate the structure, find a spot, and park itself. By leveraging existing software modules from the DARPA Urban Challenge, our efforts focused on developing a parking spot detector, a localization system that did not use GPS, and a back-in parking planner. This paper focuses on describing the design and development of the last two modules.

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Section: Introductionmentioning

confidence: 99%

Realizing Autonomous Valet Parking with automotive grade sensors

Jeevan

Harchut

Mueller-Bessler

et al. 2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Autonomous vehicle control at the limits of handling

Kritayakirana¹,

Gerdes²

2012

IJVAS

159

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Racecar drivers have the ability to operate a vehicle at its friction limit without losing control. If autonomous vehicles or driver assistance systems had similar capabilities, many fatal accidents could be avoided. To advance this goal, an autonomous racing controller is designed to gain insights into vehicle control at the friction limits. A bicycle model and a 'g-g' diagram are used to mimic racecar drivers' internal vehicle model. Lanekeeping steering feedback and wheel slip feedback controllers are used to imitate drivers making steering and throttle corrections according to the vehicle responses. Experimental results on a low friction surface demonstrate that the controller can robustly track a path while operating at the limits of tyre adhesion and provide insights for the future development of vehicle safety systems.

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Reproducible transverse dynamics vehicle evaluation in the double lane change

Cited by 2 publications

References 1 publication

Realizing Autonomous Valet Parking with automotive grade sensors

Realizing Autonomous Valet Parking with automotive grade sensors

Autonomous vehicle control at the limits of handling

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