Sensor-Based Control Architecture for a Car-Like Vehicle

(1)

HAL Id: inria-00073131

https://hal.inria.fr/inria-00073131

Submitted on 24 May 2006

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Sensor-Based Control Architecture for a Car-Like Vehicle

Christian Laugier, Thierry Fraichard, Philippe Garnier, Igor Paromtchik, Alexis Scheuer

To cite this version:

Christian Laugier, Thierry Fraichard, Philippe Garnier, Igor Paromtchik, Alexis Scheuer. Sensor-

Based Control Architecture for a Car-Like Vehicle. RR-3552, INRIA. 1998. �inria-00073131�

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a p p o r t

d e r e c h e r c h e

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

Sensor-Based Control Architecture for a Car-Like Vehicle

Christian Laugier, Thierry Fraichard, Philippe Garnier, Igor Paromtchik and Alexis Scheuer

N ˚ 3552

Octobre 1998

TH ` EME 3

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(9)

Skills library Mission Description

Sensor Data

Execution Report + Sensor data

Commands Motion Controller

Mission Monitor

Skills instantiation and execution PMP generation and update

SBMs library

SBM execution Trajectory Planner

SBM [+ Nominal Trajectory]

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FAILURE

Goal reached ? obstacle detection

Free-lane reached

no +

FAILURE no

yes

no

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possible ? Nominal Trajectory

Obstacle overtaken ? Trajectory tracking

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yes

no

yes no

Nominal trajectory to reach backward & forward motions

Parallel Parking

SUCCESS SUCCESS

Success ? Generation-execution of appropriate

Find a parking place

Local map building

local map

Reaching an appropriate start location Free parking place detected

Free-space parameters

Free-lane description yes

yes

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Sensor-Based Control Architecture for a Car-Like Vehicle

HAL Id: inria-00073131

https://hal.inria.fr/inria-00073131

Submitted on 24 May 2006

HAL is a multi-disciplinary open access archive for the deposit and dissemination of sci-

L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents

Sensor-Based Control Architecture for a Car-Like Vehicle

Christian Laugier, Thierry Fraichard, Philippe Garnier, Igor Paromtchik, Alexis Scheuer

To cite this version:

Christian Laugier, Thierry Fraichard, Philippe Garnier, Igor Paromtchik, Alexis Scheuer. Sensor-

Based Control Architecture for a Car-Like Vehicle. RR-3552, INRIA. 1998. �inria-00073131�

a p p o r t

d e r e c h e r c h e

INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE

Sensor-Based Control Architecture for a Car-Like Vehicle

Christian Laugier, Thierry Fraichard, Philippe Garnier, Igor Paromtchik and Alexis Scheuer

N ˚ 3552

Octobre 1998

TH ` EME 3

Unit´e de recherche INRIA Rhˆone-Alpes

Skills library Mission Description

Sensor Data

Execution Report + Sensor data

Commands Motion Controller

Mission Monitor

Skills instantiation and execution PMP generation and update

SBMs library

SBM execution Trajectory Planner

SBM [+ Nominal Trajectory]

World Model + Prediction

x t

s y

s

t search graph

moving obstacles

trajectory

Updating

FAILURE

Goal reached ? obstacle detection

Free-lane reached

no +

FAILURE no

yes

no

Trajectory tracking

Lane changing Obstacle avoidance

possible ? Nominal Trajectory

Obstacle overtaken ? Trajectory tracking

Lane changing

reached ? Nominal trajectory Local Trajectory

yes

no

yes no

Nominal trajectory to reach backward & forward motions

Parallel Parking

SUCCESS SUCCESS

Success ? Generation-execution of appropriate

Find a parking place

Local map building

local map

Reaching an appropriate start location Free parking place detected

Free-space parameters

Free-lane description yes

yes

Trajectory Following

traffic lane

nominal trajectory

s t d(s t ) n

d T n

s T obstacle

traffic lane s 0

s _T obstacle

traffic lane s ₀