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Connected Autonomous Driving: Electric Networked Vehicle (EN-V) Technology

机译：互联自动驾驶：电动网络车辆（EN-V）技术

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Vehicle connectivity is an essential part of the reinvention of the automobile’s DNA. Weenvision an Intelligent Transportation System pointing to a future in which electric-poweredvehicles drive themselves and handle the vast majority of the driving tasks by communicatingwith one another, infrastructure, and pedestrians; enhancing safety, reducing energyconsumption and emissions. These technologies, when fully deployed, have the potential todramatically reduce traffic congestions in cities; improve user convenience and roadutilization. Fully connected autonomous traffic paradigm can only be realized when majorityof participating entities communicate for better coordination of movement through traffic, andmost driving decisions are made optimally by computers. The research conducted in theGeneral Motors Electric Network Vehicle (EN-V) concept program is an important steptowards paving the way in realizing such a paradigm.This paper describes the high-level EN-V connected autonomous driving architecture, vehicleinterfaces and motion control algorithms. EN-V autonomous features such as selfparking/retrieval, vehicle platoons and collision avoidance are briefly described in this paper.These features are publicly demonstrated by the EN-V concept cars in many parts of theworld. The paper also presents performance requirements of the technology enablers used inthis research. Such requirements can be viewed as general system requirements for low-speedconnected autonomous driving in controlled environment. Additional system requirementsand technology enablers are necessary to operate autonomous vehicles at higher speeds ineveryday naturalistic driving environments. They are briefly discussed to help nurture futurework in the connected autonomous driving research. The results section includes performancemeasurements of the EN-V autonomous driving subsystems such as positioning, path trackingand motion control.
机译：车辆连通性是重塑汽车DNA的重要组成部分。 Weenvision提出了一种智能运输系统，该系统面向电动车辆自行驾驶并通过与基础设施和行人之间的通信来处理绝大多数驾驶任务的未来；增强安全性，减少能源消耗和排放。这些技术在全面部署后，有可能大大减少城市的交通拥堵；提高用户便利性和道路利用率。只有当大多数参与实体进行通信以更好地协调交通流量时，并且大多数驾驶决策是由计算机最佳决策时，才能实现完全连接的自主交通范例。通用汽车电动汽车（EN-V）概念计划中的研究是实现这种范例的重要一步。本文介绍了高级EN-V连接的自动驾驶体系结构，车辆接口和运动控制算法。本文简要介绍了EN-V自主功能，例如自停/取回，车辆排和避撞功能，这些功能已在世界许多地方被EN-V概念车公开展示。本文还提出了本研究中使用的技术支持的性能要求。这些要求可以看作是受控环境中低速连接自动驾驶的一般系统要求。在日常自然驾驶环境中，要以更高的速度操作自动驾驶汽车，还需要其他系统要求和技术支持。简要讨论了这些内容，以帮助培养相关的自动驾驶研究中的未来工作。结果部分包括EN-V自动驾驶子系统的性能评估，例如定位，路径跟踪和运动控制。

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  • 会议地点 Orlando, FL(US)
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    Priyantha Mudalige;

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    Staff Researcher General Motors Research and Development 30500 Mound Rd Warren MI 48090 TEL: 248 807 3155 FAX: 586 986 3003 E-mail: priyantha.mudalige@gm.com;

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