![]() ![]() WEBOTS CRASHING DRIVERTo reduce false alarms and take into account the driver corrections, a second driving risk indicator is considered, which is based on the steering dynamics, and it gives the time to the lane keeping. ![]() ![]() The difference between the two curvatures is used by the proposed algorithm as the first driving risk indicator. Based on a robust fuzzy observer designed with unmeasurable premise variables with unknown inputs, the road curvature is estimated and compared with the vehicle trajectory curvature. WEBOTS CRASHING PROFESSIONALIn this paper, a lane departure detection method is studied and evaluated via a professional vehicle dynamics software. The results show that MI may be more suitable in detecting the rear-end collision risk within the proper time and with less errors. Finally, MI, TTC and PET values for real car-following scenarios on the I-80 freeway are determined and compared. To calibrate MI, based on a fuzzy inference system (FIS), a value would be determined by a combination of TTC and PET at each instant and then by regression analysis the model parameters would be determined. In order to develop this MI, three main microscopic parameters, clearance, speed and the relative speed, are simultaneously applied to the leading vehicle. For this purpose, a new mixed index (MI) is proposed. An appropriate warning strategy for CAS can be developed using a new index that combines the properties of both TTC and PET. However, sometimes the results from each indicator are inconsistent. TTC refers to the imminent danger, and PET implies the potential danger. Time-to-collision (TTC) and post-encroachment time (PET) are two important time-based SSM that identify the probability of a rear-end collision. These indicators can be applied as a warning strategy in collision avoidance systems (CAS). Surrogate safety measures (SSM) are suitable tools to detect dangerous situations. Finally, a path tracking algorithm is developed using Matlab scientific programming software, and the dynamic behavior of the vehicle is evaluated through the response curves of the robot states, these results represent the starting point for future research and the implementation of physical tests. The use of the virtualized model of a BMW X5 vehicle and the instrumentation of multiple sensors necessary for its operation are presented. WEBOTS CRASHING SOFTWAREThis article proposes a simple simulation methodology that allows to experiment with the dynamic behavior of vehicles, which applies control laws that allow automated driving in unstructured environments, through the use of robotic application simulation software Webots, which shortens the experimentation times of autonomous driving systems, It also allows to overcome the limitations that this type of projects involves, such as, high infrastructure costs, the difficulties of validating the system, qualified personnel and the participation of various elements with different dynamic behaviors that make up a real traffic space. Overall, this pipeline is very capable and can be used to extend existing projects or serve as a platform for new robotics simulation endeavors. The implemented distribution and parallelization are extremely effective, with a 100\% simulation completion rate after 12 hours of runs. Additionally, simulations can be run in sequence, with a batch job being distributed across an arbitrary number of computing nodes and each node having multiple instances running in parallel. We have developed a pipeline capable of running Webots simulations both headlessly and in GUI-enabled mode over an SSH X11 server, with simulation execution occurring remotely on HPC compute nodes. Such a pipeline would allow researchers to generate massive datasets from their simulations, opening the door for potential machine learning applications and decision tool development. For projects that would benefit from an aggregated output dataset from thousands of simulation runs, there is no standard recourse this project sets out to mitigate this by developing a formalized parallel pipeline for running sequences of Webots simulations on powerful HPC resources. Even so, Webots simulations are often run on personal and lab computers. Webots, a state-of-the-art robotics simulator, is often the software of choice for robotics research. In the rapidly evolving and maturing field of robotics, computer simulation has become an invaluable tool in the design process. ![]()
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