Automated driving system and method for road vehicles
An automated driving system ( 402 ) for automated driving of road vehicle is provided herein. The automated driving system ( 402 ) includes a navigation module ( 202 ) configured to receive initial waypoints from a road model ( 602 ), and further configured to generate modified waypoints, based on squint radar data and inertial measurement unit ( 604 ). The automated driving system ( 402 ) further includes a guidance module ( 504 ) configured to generate a smooth reference path for the vehicle ( 102 ) to follow, based upon the modified waypoints. The automated driving system ( 402 ) further includes a control module ( 506 ) configured to control movement of the vehicle ( 102 ) along the generated reference path.
1. An automated driving system for automated driving of a road vehicle, the automated driving system comprising a processor and a memory, the memory storing:
a navigation module configured to receive initial waypoints from a road model, and further configured to generate modified waypoints, based on squint radar data and inertial measurement unit provided on the road vehicle;
a guidance module configured to generate a smooth reference path for the vehicle to follow, based upon the modified waypoints; and
a control module configured to control movement of the vehicle along the generated reference path.
2. The automated driving system of claim 1 , wherein the radar system of the road vehicle includes a pair of front radars, a pair of squint radars, and a pair of side radars.
3. The automated driving system of claim 2 , wherein the radar system is configured to receive reflected signals from passive radar reflectors located along the road.
4. The automated driving system of claim 1 , wherein the navigation module is further configured to ignore oldest waypoints based upon a look-ahead distance and data provided by the radar system.
5. The automated driving system of claim 1 , wherein the inertial measurement unit is configured to provide inter waypoint positional information and yaw information of the road vehicle.
6. The automated driving system of claim 1 , wherein the guidance module is configured to resolve the reference ‘X coordinates’ and reference ‘Y coordinates’.
7. The automated driving system of claim 1 , wherein the guidance module is configured to calculate reference yaw angle, yaw rate, lateral velocity, acceleration and steering angle from the ‘X-Y coordinates’.
8. The automated driving system of claim 1 , wherein the control module is configured to use ‘model predictive control’ (MPC) algorithm.
9. The automated driving system of claim 1 , wherein the control module is configured to minimize deviations by adjusting steering angle and acceleration of the vehicle.
10. A computer-implemented method for automated driving of a road vehicle, the computer-implemented method comprising:
receiving initial waypoints from a road model, and further configured to generate modified waypoints, based on squint radar data and inertial measurement unit provided on the road vehicle;
generating a smooth reference path for the vehicle to follow, based upon the modified waypoints; and
controlling movement of the vehicle along the generated reference path.