...
We
...
are
...
currently
...
testing
...
algorithms
...
for
...
cooperative
...
collision
...
avoidance
...
at
...
traffic
...
mergings,
...
roundabouts,
...
and
...
intersections.
...
We
...
consider
...
both
...
completely
...
autonomous
...
systems
...
and
...
partially
...
autonomous
...
ones.
...
In
...
partially
...
autonomous
...
systems,
...
some
...
of
...
the
...
vehicles
...
are
...
human-driven
...
and
...
do
...
not
...
communicate
...
with
...
the
...
autonomous
...
vehicles.
...
We
...
model
...
the
...
behavior
...
of
...
human
...
driven
...
vehicles
...
as
...
a
...
hybrid
...
automaton
...
so
...
that
...
it
...
can
...
be
...
formally
...
taken
...
into
...
account
...
by
...
the
...
automatic
...
controllers.
...
Challenges
...
that
...
we
...
tackle
...
include:
...
incorporation
...
of
...
human
...
driving
...
models,
...
hybrid
...
continuous/discrete
...
dynamics,
...
state
...
(continuous/discrete)
...
uncertainty,
...
and
...
complexity
...
arising
...
from
...
large
...
state
...
spaces.
...
Besides
...
our
...
in-lab
...
implementation,
...
we
...
work
...
with
...
engineers
...
at
...
the
...
Toyota
...
Technical
...
Center,
...
Ann
...
Arbor
...
to
...
implement
...
our
...
algorithms
...
on
...
their
...
full-scale
...
experimental
...
facility.
...
| Wiki Markup |
|---|
<span style="color: #000000"><strong>Our Vehicles</strong></span> Our vehicles (shown in the figures) are equipped with on-board computer (running Linux, Fedora core), wireless communication (802.11b), positioning system (overhead b/w camera vision system), and speed sensors (encoders). A motion controller emulates the scaled longitudinal dynamics of a full-scale vehicle including engine and transmission. The on-board computer can apply steering, throttle, and braking inputs. The dynamic response of the vehicles to these inputs is the same as the one of a full scale vehicle with automatic transmission. The test area is 6 by 6 meters. The vehicles are about 30 cm long. For more details on how the hardware and the software of the vehicles was designed, refer to \[[1|http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/papers/ScalingWork.pdf]\] (IEEE/ASME Trans. Mechatronics, 2008). |
...
Multivehicle |
...
collision |
...
avoidance |
...
project |
...
|
...
is |
...
a |
...
currently |
...
active |
...
project. |
...
| |
Human warning/override system project | |
Semi-autonomous Roundabout project | http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2009/CA-human.pdf] |
...
] | http://www.umich.edu.ezproxyberklee.flo.org/%7Erajverma/code.zip]] |
...
| http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2009/pres.ppt] |
...
] |
...
System |
...
Movie-December |
...
2010 |
...
By |
...
Rajeev |
...
Verma. | http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/papers/CDC_09_rv_ddv.pdf] |
...
] |
...
(CDC |
...
2009) |
|
...
| ||
<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="0bfef213-4523-4c95-9977-9b058089b4ee"><ac:plain-text-body><![CDATA[ | Three-Vehicle Movie-September 2009 [Demo | http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2009/8_28_09_demo_clip.avi] |
...
or |
...
alternate |
...
link |
...
on |
...
youtube |
...
[[9 |
...
http://www.youtube.com/watch?v=_NrKShBqd18] |
...
] |
...
By |
...
Jeffrey |
...
Michael |
...
Duperret | http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/papers/ACC09.pdf] |
...
] |
...
(ACC |
...
2009) |
...
and |
...
[[11 |
...
http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/papers/HafnerCDC2009.pdf] |
...
] |
...
(CDC |
...
2009). |
...
|
...
]]></ac:plain-text-body></ac:structured-macro> | |||
Autonomous Roundabout project | http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2008/ProjectIntroAndAlgorithms.ppt] |
...
] |
...
June) |
...
[[3 |
...
http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2008/TimeManagementMay-June.ppt]] |
...
| http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2008/VehicleSoftwareArch.ppt]] |
...
| http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2008/CA.pdf] |
...
] | http://www.umich.edu.ezproxyberklee.flo.org/%7Erajverma/CA.zip]] |
...
]></ac:plain-text-body></ac:structured-macro> | http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2008/Dynamics.pdf] |
...
] |
...
!scaledvehcile.jpg |
...
width=542,height=320,align=center! |
...
]]></ac:plain-text-body></ac:structured-macro> | |
<ac:structured-macro ac:name="unmigrated-wiki-markup" ac:schema-version="1" ac:macro-id="dc4a9ea7-1656-4f4b-b72b-19025a9983c9"><ac:plain-text-body><![CDATA[ | Final Project Report--September |
...
2008 |
...
[[8 |
...
http://www.eecs.umich.edu.ezproxyberklee.flo.org/%7Eddv/LAB/RoundAbout2008/Report-Summer2008.pdf] |
...
] |
...
(This |
...
appeared |
...
as |
...
a |
...
paper |
...
in |
...
the |
...
2009 |
...
ICRA |
...
conference) |
...
2008 |
...
Final |
...
Demo |
...
Movie |
...
By |
...
Vishnu |
...
Desaraju. |
...
In |
...
the |
...
movie, |
...
we |
...
show |
...
the |
...
experimentally |
...
obtained |
...
trajectory |
...
of |
...
the |
...
vehicles |
...
compared |
...
against |
...
the |
...
capture |
...
sets, |
...
which |
...
we |
...
implemented |
...
using |
...
our |
...
partial |
...
order-based |
...
algorithms. |
...
These |
...
algorithms |
...
have |
...
linear |
...
complexity |
...
in |
...
the |
...
size |
...
of |
...
the |
...
system |
...
state |
...
space |
...
as |
...
they |
...
exploit |
...
the |
...
rich |
...
partial |
...
order |
...
structure |
...
that |
...
characterizes |
...
traffic |
...
systems. |
...
|
...
Full Vehicle Experiments (2010 - 2011) - Mike Hafner, Drew Cunningham, Lorenzo Caminiti, Domitilla Del Vecchio
This work involved implementing our collision avoidance algorithms, as described in this SIAM article, on-board full size Lexus IS250 test vehicles. Testing was carried out on-site at the Toyota Technical Center, Ann Arbor MI. Some results of this work were presented at the ITS World Congress in Orlando, 2011. The presentation and video shown at this conference and video are provided.
Presentation:
| Widget Connector | ||||
|---|---|---|---|---|
|
...
|
Video:
[File=FullVehicleIcaTesting.ogv
...
]
...