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Fig. 11.1
ZOCO. Test circuit
camera was installed in Babieca and a new controller was implemented to follow the
lane reference trajectory. In order to do it, the vision system detected the limits of a
lane, even if there was not painted marks and estimated the reference trajectory to be
followed by the controller. In 2002 Rocinante was instrumented with an industrial PC
and the mentioned control boards. It has to pay attention to the brake instrumentation
with a DC motor joint to the brake pedal through a stainless cable.
11.3 Advanced Control
When we had got two vehicles automated, a set of conjoint maneuvers could be done,
in these maneuvers the two modes, manual and automatic, of guiding were combined
in order to demonstrate the flexibility and robustness of the control system, because
the automatic vehicle had to react to the unpredictable behavior of the human driver.
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