AUTOPÍA Program for Intelligent Control of Vehicles - Fuzzy Modeling and Control: Theory and Applications - page 199

Fig. 11.2 Clavileño
Naranjo et al. ( 2003a , b ), Naranjo 2005 describe these maneuvers, being the ACC
and the overtaking the most relevant. Besides new ACC's based on vision cameras
and on a laser were implemented for Babieca and for Rocinante respectively (Sotelo
et al. 2004 , 2001 ). Notice that for conjoint maneuvers vehicle to vehicle (V2V)
communication is needed. This was implemented by a wireless network with point
to point dedicated sockets (Naranjo et al. 2007 ). In 2005 simulations allowed to
adjust the parameters of the membership functions of the fuzzy controllers with
genetic algorithms (Alonso et al. 2005 ). An evolutionary strategy allowed to define
and to represent the trajectory to be followed in a more efficient way. Also in 2005
Clavileño was prepared for automatic guiding (Fig. 11.2 ). The main difference with
the equipment put in the vans was the steering-wheel actuation system. In this case
the motor of the assisted steering was used and was installed a new power step able
of providing until 60 amperes and controlled by the PC of the vehicle.
11.4 Cooperative Control
The international visibility of theAUTOPÍA teambegins in 2002, this year AUTOPÍA
attended to the Intelligent Vehicles (IV'2002) and their cars participated in the
congress exhibitions hold in Versalles. Babieca and Rocinante were the only
unmanned cars that run by the LIVIC facilities. It is convenient to detach that during
the oral communication of the AUTOPÍA research the demonstrative videos were
replaced by a live retransmission of a trip of Babieca and Rocinante by the LIVIC
circuit (García et al. 2002 ). In 2006 begins CyberCars-2: Close Communications
for Cooperation between Cybercars the European project 028062 of the VI Frame
Program in the field of Intelligent Transport Systems, in which AUTOPÍA team led
the work package charged of the control and decision algorithms.
The obtained results attained the objectives planed in the project, cooperation
and interoperation between cybercars and serial cars, as was shown in the pub-
lic exhibitions done in La Rochelle in 2008 (Milanés et al. 2011 ). A pedestrian
detection system with stereovision was integrated in Clavileño. The system was