FAILURE Goal reached?. obstacle detection Free-lane reached no + FAILURE no Obstacle overtaken?. Trajectory tracking Lane changing reached?. Nominal trajectory Parallel Parking SUCCESS S
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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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Trang 8Skills instantiation and execution
PMP generation and update
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Trang 16FAILURE
Goal reached ? obstacle detection
Free-lane reached
no
+
FAILURE no
Obstacle overtaken ? Trajectory tracking
Lane changing
reached ? Nominal trajectory
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
Trang 19L1 D1
D2
D3 D4
L2
B2 B1
A1
B24
B23 B11
B12 B13
B22
A11
A12 A13
Trang 23local trajectory
-0.4 -0.2 0 0.2 0.4
Trang 24
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Trang 30Unit´e de recherche INRIA Lorraine, Technop ˆole de Nancy-Brabois, Campus scientifique,
615 rue du Jardin Botanique, BP 101, 54600 VILLERS L ` ES NANCY Unit´e de recherche INRIA Rennes, Irisa, Campus universitaire de Beaulieu, 35042 RENNES Cedex Unit´e de recherche INRIA Rh ˆone-Alpes, 655, avenue de l’Europe, 38330 MONTBONNOT ST MARTIN Unit´e de recherche INRIA Rocquencourt, Domaine de Voluceau, Rocquencourt, BP 105, 78153 LE CHESNAY Cedex Unit´e de recherche INRIA Sophia-Antipolis, 2004 route des Lucioles, BP 93, 06902 SOPHIA-ANTIPOLIS Cedex
´ Editeur INRIA, Domaine de Voluceau, Rocquencourt, BP 105, 78153 LE CHESNAY Cedex (France)
ISSN 0249-6399
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Skills instantiation and execution
PMP generation and update
Trang... ? Generation-execution of appropriateFind a parking place
Local map building
local map
Reaching an appropriate start location