Mission based systems for connected automated mobility

IF 4.3 2区 计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS Robotics and Autonomous Systems Pub Date : 2024-07-31 DOI:10.1016/j.robot.2024.104772
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Abstract

Cooperative, connected and automated mobility (CCAM) is one of the next big steps in the automotive industry. Thanks to recent improvements in Advanced Driver Assistance Systems, and novel methods for automating vehicles, more safe and efficient transport mechanisms have been achieved. Current vehicles are already connected devices, and communications between vehicles, infrastructure and other road users will allow traffic agents to share information and use it to coordinate their actions. The full integration between cooperation, connectivity, and automation technologies entail an important achievement to improve road safety, traffic efficiency and comfort of driving. To approach this goal, the main contributions of this work propose a new distributed mission system based on Advanced Behavioral Points (ABP). That is, based on relevant points inside a plan which store a collection of predefined tasks that operate at the high level layer of an automated and connected vehicle to coordinate behaviors when connecting to critical emplacements like junctions and roundabouts. This approach, which has been tested in the simulation environment of Carla, provide a collaboration stack between the traffic infrastructure and the ego vehicle so as to cope with actual problems such as traffic congestion and road accidents.

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基于任务的互联自动交通系统
合作、互联和自动驾驶交通(CCAM)是汽车行业的下一个重要发展方向。得益于先进驾驶辅助系统的最新改进和车辆自动化的新方法,我们已经实现了更安全、更高效的交通机制。目前的车辆已经是联网设备,而车辆、基础设施和其他道路使用者之间的通信将使交通参与者能够共享信息,并利用这些信息协调行动。合作、互联和自动化技术之间的全面融合,是提高道路安全、交通效率和驾驶舒适度的重要成果。为了实现这一目标,这项工作的主要贡献是提出了一种基于高级行为点(ABP)的新型分布式任务系统。也就是说,基于计划内的相关点,这些点存储了一系列预定义的任务,在自动驾驶和互联车辆的高层运行,以协调连接到路口和环岛等关键位置时的行为。这种方法已在 Carla 仿真环境中进行了测试,可在交通基础设施和自动驾驶汽车之间提供一个协作栈,以应对交通拥堵和道路事故等实际问题。
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来源期刊
Robotics and Autonomous Systems
Robotics and Autonomous Systems 工程技术-机器人学
CiteScore
9.00
自引率
7.00%
发文量
164
审稿时长
4.5 months
期刊介绍: Robotics and Autonomous Systems will carry articles describing fundamental developments in the field of robotics, with special emphasis on autonomous systems. An important goal of this journal is to extend the state of the art in both symbolic and sensory based robot control and learning in the context of autonomous systems. Robotics and Autonomous Systems will carry articles on the theoretical, computational and experimental aspects of autonomous systems, or modules of such systems.
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