Authors
Patryk Szwajkowski, Łukasiewicz Research Network – Automotive Industry Institute (Łukasiewicz – PIMOT), Research Group for New Automotive Technologies patryk.szwajkowski@pimot.lukasiewicz.gov.pl
Aim of the project
The project aims to develop an advanced driving control system for a critical situation in an autonomous car pilot unit. The work is related to the steering system tasked with avoiding obstacles that may suddenly appear in front of the AV, reducing the risk of collision. Such a maneuver is necessary when stopping the vehicle’s unit in front of an obstacle is impossible. Work in the project concerns the development of such autonomous vehicle systems as perception (sensor fusion, obstacle detection, and tracking), collision risk analysis, decision-making (driving strategy), path planning, the anticipation of the vehicle’s position, and control (trailer-sensitive). Additional goals of the project are to develop the technical competencies and equipment resources of Łukasiewicz-PIMOT in road transport automation. In addition, the project assumes the development of research methodologies and scenarios for automated and autonomous vehicles.
Short description of the problem addressed by this project
The issue of controlling an autonomous car is currently widely analyzed in the automotive market and in many research units worldwide. The movement of an autonomous vehicle is a process influenced by several systems, algorithms, and models. Majority of research and implementations in the road traffic worldwide focus on a single AV, even though the car-trailer unit is very often used in conventional road traffic. However, the movement of such a unit is much more complex, and more research is needed to be done on such a combination. Ordinary control systems do not consider the characteristics of a car-trailer unit, which may be crucial in a critical situation. The project aims to develop a control system that increases road traffic safety through a broader range of maneuvers for AV with a trailer and increases maneuver efficiency. Many business entities developing automated and autonomous vehicle systems in Poland report the need to build research and development facilities in our country. The project will enable the development of Łukasiewicz–PIMOT’s technical competencies and the equipment resources to create an offer for the entities interested in road transport automation.
Main results and achievements
- An automated vehicle and a trailer were prepared to research automated and autonomous vehicles (lidars, cameras, GPS, controller, drive-by-wire).
- A control system for an autonomous car with a trailer was developed for moving along a straight section at a constant velocity and in a critical situation (scenario based on emergency braking and collision avoidance).
- A car and trailer dynamics model was developed in a simulation environment.
- A simulation environment was developed using the Unity graphics engine.
- Test scenarios and research methodologies (both simulation and experimental) were developed.
- Experimental research was carried out for parameterizing and validating simulation models.
- Simulation and experimental research of the built control system for an autonomous car with a trailer in a critical situation were conducted. The impact of the control system on the effectiveness of emergency maneuvers (braking and collision avoidance) at high driving velocities was examined.
- A 39% improvement inf collision avoidance efficiency compared to autonomous emergency braking on the test track.
Conclusion
The assumed goals and indicators were achieved in the AZSP project. Level 6 of technological readiness (TRL) has been completed (a prototype control system for an autonomous car with a trailer in a critical situation was presented). The project developed many technologies that can be implemented in other systems, including solutions for external clients. The developed research methodologies and test scenarios can also be used as ready-made solutions for simulation or experimental research on AV. Moreover, the developed research platform as an automated car is a unique solution for conducting experimental research on test tracks or public roads. Most of the systems built for the project were tested in natural conditions during tests on a public highway in Jaworzno. Łukasiewicz-PIMOT was the first organization in Poland to obtain permission and conduct this type of research according to the requirements of the Act.
Acknowledgments
The project was funded by the Targeted Grant of the President of the Łukasiewicz Center for 2021-2023, under Grant Agreement No. 2/Ł-PIMOT/CŁ/2021, dated March 1st, 2021.
