AUTOPÍA Program for Intelligent Control of Vehicles - Fuzzy Modeling and Control: Theory and Applications - page 204

Fig. 11.6 Clavileño and Platero running into normal traffic in June 2012
along the paths of the INTA facilities. Molinero was augmented with a Velodyne
laser to detect obstacles and pedestrians and to avoid them if they were in its planned
trajectory. Platero run along the INTA velocity track attained a velocity of 100 km/h.
Witnesses of these tests were many congressmen that wanted to experiment the
automatic driving (Fig. 11.5 ).
Finally the last big AUTOPÍA exhibition took place in June the tenth of 2012.
The demo was done with two AUTOPÍA cars, Clavileño and Platero. Platero moved
automatically tracking the Clavileño's trajectory, that was driven manually. Both
vehicles run at a media velocity of 60 km/h, but attained the 100 km/h while keeping
a safety distance. The origin of the trip was San Lorenzo de El Escorial and the end
was the site of the CAR in Arganda del Rey. The total length of the trip was 98Km
and the trajectory passed by urban and periurban segments—M600 and M50—and
highway segments (Fig. 11.6 ).
11.6 Conclusions
The AUTOPÍA program was thought to apply Intelligent Control to guide real cars
that move in real environments and in common traffic conditions. The Program was
initiated with the minimal resources installed on the car, both in terms of sensors as
in terms of actuators while keeping the environment unchanged. Along fifteen years
it has evolved step by step improving the control algorithms and including decision