The path towards safe and highly automated driving is still under development. Especially when it comes to safety aspects, industry and research struggle to reach the required standards. In this paper we suggest using vehicle to infrastructure communication to provide a new kind of safety fallback solution in case conventional automated driving systems fail. This proposal is verified in a Hardware in the Loop setup. A fault is injected to the motion planner of a connected automated vehicle. The vehicle's own computing platform fails to generate a trajectory. An emergency message is sent to the infrastructure which seamlessly takes over the motion planning task and provides a backup trajectory to the vehicle. The infrastructure's motion plan is processed by the vehicle's motion controller and guides the vehicle to a safe stopping position. The scenario is executed with our research vehicle driving in a parking lot on a virtual highway and stopping on the hard shoulder. Additionally, a virtual vehicle is placed in the setup, acting as an obstacle on the shoulder lane of the highway. The whole scenario is thoroughly tested and shows one possibility on how the infrastructure can contribute to a safe path towards highly automated driving.
Hardware in the Loop Test Using Infrastructure Based Emergency Trajectories for Connected Automated Driving
2020-10-19
896774 byte
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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