This article describes some technical issues regarding the adaptation of a production car to a platform for the development and\ntesting of autonomous driving technologies. A universal approach to performing the reverse engineering of electric power steering\n(EPS) for the purpose of external control is also presented. The primary objective of the related study was to solve the problem\nassociated with the precise prediction of the dynamic trajectory of an autonomous vehicle. This was accomplished by deriving a\nnew equation for determining the lateral tire forces and adjusting some of the vehicle parameters under road test conductions.\nA Mivar expert system was also integrated into the control system of the experimental autonomous vehicle. The expert system\nwas made more flexible and effective for the present application by the introduction of hybrid artificial intelligence with logical\nreasoning. The innovation offers a solution to the major problem of liability in the event of an autonomous transport vehicle being\ninvolved in a collision.
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