Reliable and efficient validation technologies are critical for the recent development of multi-vehicle cooperation and vehicle-road-cloud integration. In this paper, we introduce our miniature experimental platform, Mixed Cloud Control Testbed (MCCT), developed based on a new notion of Mixed Digital Twin (mixedDT). Combining Mixed Reality with Digital Twin, mixedDT integrates the virtual and physical spaces into a mixed one, where physical entities coexist and interact with virtual entities via their digital counterparts. Under the framework of mixedDT, MCCT contains three major experimental platforms in the physical, virtual and mixed spaces respectively, and provides a unified access for various human-machine interfaces and external devices such as driving simulators. A cloud unit, where the mixed experimental platform is deployed, is responsible for fusing multi-platform information and assigning control instructions, contributing to synchronous operation and real-time cross-platform interaction. Particularly, MCCT allows for multi-vehicle coordination composed of different multi-source vehicles (\eg, physical vehicles, virtual vehicles and human-driven vehicles). Validations on vehicle platooning demonstrate the flexibility and scalability of MCCT.
Small-Scale Testbeds for Connected and Automated Vehicles and Robot Swarms: Challenges and a Roadmap
RWTH Aachen University（亚琛工业大学）；Indian Institute of Technology Bombay（印度班加罗尔理工学院）；Tsinghua University（清华大学）；the German University in Cairo（埃及亚历山大大学）；INSAIT；KTH Royal Institute of Technology（皇家理工学院）；KU Leuven（鲁汶大学）
This work presents the most recent advances of the Robotic Testbed for Rendezvous and Optical Navigation (TRON) at Stanford University - the first robotic testbed capable of validating machine learning algorithms for spaceborne optical navigation. The TRON facility consists of two 6 degrees-of-freedom KUKA robot arms and a set of Vicon motion track cameras to reconfigure an arbitrary relative pose between a camera and a target mockup model. The facility includes multiple Earth albedo light boxes and a sun lamp to recreate the high-fidelity spaceborne illumination conditions. After the overview…
Integrated Wheel Sensor Communication using ESP32 -- A Contribution towards a Digital Twin of the Road System
Institute for Automotive Engineering, RWTH Aachen University（汽车工程研究所，亚琛RWTH大学）；Chair of Embedded Software, RWTH Aachen University（嵌入式软件教授职位，亚琛RWTH大学）；Department of Aerospace Engineering, University of the Bundeswehr Munich（航空航天工程系，联邦国防军 Munich大学）
In this paper, a steering action-aware Adaptive Cruise Control (ACC) approach for teleoperated road vehicles is proposed. In order to keep the vehicle in a safe state, the ACC approach can override the human operator's velocity control commands. The safe state is defined as a state from which the vehicle can be stopped safely, no matter which steering actions are applied by the operator. This is achieved by first sampling various potential future trajectories. In a second stage, assuming the trajectory with the highest risk, a safe and comfortable velocity profile is optimized. This yields a s…
Increasingly sophisticated function development is taking place with the aim of developing efficient, safe and increasingly Automated Driving Functions. This development is possible with the use of diverse data from sources such as Navigation Systems, eHorizon, on-board sensor data, Vehicle-to-Infrastructure (V2I) and Vehicle-to-Vehicle (V2V) communication. Increasing challenges arise with the dependency on large amounts of real-time data coming from off-board sources. At the core of addressing these challenges lies the concept of a Digital Dependability Identity (DDI) of a component or system…
