We present the development of a full-scale “parallel autonomy” research platform including software and hardware. In the parallel autonomy paradigm, the control of the vehicle is shared; the human is still in control of the vehicle, but the autonomy system is always running in the background to prevent accidents. Our holistic approach includes: (1) a driveby-wire conversion method only based on reverse engineering, (2) mounting of relatively inexpensive sensors onto the vehicle, (3) implementation of a localization and mapping system, (4) obstacle detection and (5) a shared controller as well as (6) integration with an advanced autonomy simulation system (Drake) for rapid development and testing. The system can operate in three modes: (a) manual driving, (b) full autonomy, where the system is in complete control of the vehicle and (c) parallel autonomy, where the shared controller is implemented. We present results from extensive testing of a full-scale vehicle on closed tracks that demonstrate these capabilities.


    Access

    Download


    Export, share and cite



    Title :

    A Parallel Autonomy Research Platform



    Publication date :

    2017


    Remarks:

    Naser, Felix et al. "A Parallel Autonomy Research Platform." 2017 IEEE Intelligent Vehicles Symposium. 11-14 June, 2017, Redondo Beach, CA, USA, IEEE, 2017.


    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




    A Parallel Autonomy Research Platform

    Naser, Felix / Dorhout, David / Proulx, Stephen et al. | British Library Conference Proceedings | 2017


    A parallel autonomy research platform

    Naser, Felix / Dorhout, David / Proulx, Stephen et al. | IEEE | 2017


    PARALLEL AND FAILOVER AUTONOMY SYSTEMS

    SARETT MATTHEW JEREMY / KEATING RYAN / CARLEVARIS-BIANCO NICHOLAS DAVID et al. | European Patent Office | 2021

    Free access


    Parallel and failover autonomy systems

    SARETT MATTHEW JEREMY / KEATING RYAN / CARLEVARIS-BIANCO NICHOLAS DAVID et al. | European Patent Office | 2022

    Free access