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A Vehicle Simulation Model and Automated Driving Features Validation for Low-Speed High Automation Applications
dc.contributor.author | Matute Peaspán, José Angel | |
dc.contributor.author | Zubizarreta Pico, Asier | |
dc.contributor.author | Díaz Briceno, Sergio Enrique | |
dc.date.accessioned | 2021-12-15T09:27:01Z | |
dc.date.available | 2021-12-15T09:27:01Z | |
dc.date.issued | 2021-12 | |
dc.identifier.citation | IEEE Transactions on Intelligent Transportation Systems 22(12) : 7772-7781 (2021) | es_ES |
dc.identifier.issn | 1524-9050 | |
dc.identifier.issn | 1558-0016 | |
dc.identifier.uri | http://hdl.handle.net/10810/54486 | |
dc.description.abstract | [EN]The low-speed high automation (LSHA) is foreseen as a development path for new types of mobility, improving road safety and addressing transit problems in urban infrastructures. As these automation approaches are still in the development phase, methods to improve their design and validation are required. The use of vehicle simulation models allows reducing significantly the time deployment on real test tracks, which would not consider all the scenarios or complexity related to automated driving features. However, to ensure safety and accuracy while evaluating the proper operation of LSHA features, adequate validation methodologies are mandatory. In this study a two-step validation methodology is proposed: Firstly, an open-loop test set attempts to tune the required vehicle simulation models using experimental data considering also the dynamics of the actuation devices required for vehicle automation. Secondly, a closed-loop test strives to validate the selected automated driving functionality based on test plans, also improving the vehicle dynamics response. To illustrate the methodology, a study case is proposed using an automated Renault Twizy. In the first step, the brake pedal and steering wheel actuators' behavior is modeled, as well as its longitudinal dynamics and turning capacity. Then, in a second step, an LSHA functionality for Traffic Jam Assist based on a Model Predictive Control approach is evaluated and validated. Results demonstrate that the proposed methodology is capable not only to tune vehicle simulation models for automated driving development purposes but also to validate LSHA functionalities. | es_ES |
dc.description.sponsorship | This work was supported by the Tecnalia Research & Innovation facilities from the Electronic Component Systems for European Leadership Joint Undertaking (AutoDrive Project) under Grant 737469. The Associate Editor for this article was L. Chen. | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | IEEE | es_ES |
dc.relation | info:eu-repo/grantAgreement/EC/H2020/737469 | es_ES |
dc.rights | info:eu-repo/semantics/openAccess | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ | * |
dc.subject | autonomous vehicles | es_ES |
dc.subject | system validation | es_ES |
dc.subject | predictive models | es_ES |
dc.subject | motion control | es_ES |
dc.title | A Vehicle Simulation Model and Automated Driving Features Validation for Low-Speed High Automation Applications | es_ES |
dc.type | info:eu-repo/semantics/article | es_ES |
dc.rights.holder | This work is licensed under a Creative Commons License: Attribution 4.0 International (CC BY 4.0). | es_ES |
dc.rights.holder | Atribución 3.0 España | * |
dc.relation.publisherversion | https://ieeexplore.ieee.org/document/9145864 | es_ES |
dc.identifier.doi | 10.1109/TITS.2020.3008318 | |
dc.contributor.funder | European Commission | |
dc.departamentoes | Ingeniería de sistemas y automática | es_ES |
dc.departamentoeu | Sistemen ingeniaritza eta automatika | es_ES |