This paper presents a hierarchical structure for the automatic guidance of vehicles. The overall system includes all the vehicles involved in a traffic situation. Vehicles with decentral on-board computers and sensors are interconnected by communication system where also stationary devices can be attached. Those vehicles and obstacles, which do not participate in the information exchange, have to be detected by sensors. The hierarchical structure is subdivided into different levels. The collision avoidance, as one of these levels, generates a collision free path for each vehicle according to the sensor signals and to information via the communication system. The collision avoidance also provides exclusively sensor based strategies which are able to initiate autonomous emergency manoeuvres if no communication facility is available. The collision free path is transfered to the level of path control where the signals for the steering system, the drive and the brakes are generated to stabilize the vehicle on the desired course. The high flexibility and the modularity of the overall system enables the integration of powerful new facilities and devices. In this context the application of knowledge based systems supporting the collision avoidance module is considered.
A hierarchically structed system for automated vehicle guidance
Hierarchisch strukturiertes System für automatische Kraftfahrzeugführung
1990
9 Seiten, 5 Bilder, 4 Quellen
Conference paper
English
A hierarchically structured system for automated vehicle guidance
Automotive engineering | 1990
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