This paper presents the Auto-Sapiens project, an autonomous driving car developed by the Mechatronics and Vehicle Dynamics Lab, at Sapienza University of Rome. Auto-Sapiens is a technological platform to test and improve innovative control algorithms. The car platform is a standard car (Smart ForTwo) equipped with throttle, brake, steering actuators and different sensors for attitude identification and environment reconstruction. The first experiments of the Auto-Sapiens car test a new obstacle avoidance. The vehicle, controlled by an optimal variational feedback control, recently developed by the authors, includes the nonlinearities inherent in the car dynamics for better performances. Results show the effectiveness of the system in terms of safety and robustness of the avoidance maneuvers.

Auto-sapiens autonomous driving vehicle / Laurenza, M.; Pepe, G.; Carcaterra, A.. - (2020), pp. 361-369. (Intervento presentato al convegno 6th International conference on vehicle technology and intelligent transport systems, VEHITS 2020 tenutosi a Online streaming) [10.5220/0009419403610369].

Auto-sapiens autonomous driving vehicle

Laurenza M.
;
Pepe G.;Carcaterra A.
2020

Abstract

This paper presents the Auto-Sapiens project, an autonomous driving car developed by the Mechatronics and Vehicle Dynamics Lab, at Sapienza University of Rome. Auto-Sapiens is a technological platform to test and improve innovative control algorithms. The car platform is a standard car (Smart ForTwo) equipped with throttle, brake, steering actuators and different sensors for attitude identification and environment reconstruction. The first experiments of the Auto-Sapiens car test a new obstacle avoidance. The vehicle, controlled by an optimal variational feedback control, recently developed by the authors, includes the nonlinearities inherent in the car dynamics for better performances. Results show the effectiveness of the system in terms of safety and robustness of the avoidance maneuvers.
2020
6th International conference on vehicle technology and intelligent transport systems, VEHITS 2020
autonomous car; collision avoidance; optimal feedback control; velocity obstacle
04 Pubblicazione in atti di convegno::04b Atto di convegno in volume
Auto-sapiens autonomous driving vehicle / Laurenza, M.; Pepe, G.; Carcaterra, A.. - (2020), pp. 361-369. (Intervento presentato al convegno 6th International conference on vehicle technology and intelligent transport systems, VEHITS 2020 tenutosi a Online streaming) [10.5220/0009419403610369].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11573/1451427
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