Interoperable control architecture for cybercars and dual-mode cars

  • Authors:

  • José E. Naranjo;Laurent Bouraoui;Ricardo García;Michel Parent;Miguel Ángel Sotelo

  • Affiliations:

  • School of Computer Science, Polytechnics University of Madrid, Madrid, Spain and Instituto de Automática Industrial, Consejo Superior de Investigaciones Cientificas, Madrid, Spain;Institut National de Recherche en Informatique et Automatique, Informatique Mathématiques et Automatique pour la Route Automatisée, Le Chesnay, France;Instituto de Automática Industrial, Consejo Superior de Investigaciones Cientificas, Madrid, Spain;Institut National de Recherche en Informatique et Automatique, Informatique Mathématiques et Automatique pour la Route Automatisée, Le Chesnay, France;Department of Electronics, University of Alcalá, Alcalá de Henares, Spain

  • Venue:
  • IEEE Transactions on Intelligent Transportation Systems
  • Year:
  • 2009

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Abstract

This work is driven by our vision that cybernetic transport systems (CTSs) based on fully automated urban vehicles (cybercars) will be seen on city roads and new dedicated infrastructures in the near future. These automated vehicles can be heterogeneous systems, such as human-driven traffic, each having different features and functionalities. In our case, we have developed a control architecture that can manage automatic driving of two cars: 1) CyCabs and 2) automated mass-produced cars. This architecture is interoperable and generates humanlike control of vehicles in any situation. Installation and communication with each vehicle are easy. The autonomous route-tracking behaviors are similar, even if the mechanical, electronic, software, and hardware configurations are different for both cars. The results of the developments shown in this paper are part of the European Union (EU) CyberCars-2 Project, which is currently under deployment.