A Systematic Literature Review about the impact of Artificial Intelligence on Autonomous Vehicle Safety <s> Fuzzy Logic <s> Abstract The intelligent control of autonomous vehicles is one of the most important challenges that intelligent transport systems face today. The application of artificial intelligence techniques to the automatic management of vehicle actuators enables the different Advanced Driver Assistance Systems (ADAS) or even autonomous driving systems, to perform a low level management in a very similar way to that of human drivers by improving safety and comfort. In this paper, we present a control schema to manage these low level vehicle actuators (steering throttle and brake) based on fuzzy logic, an artificial intelligence technique that is able to mimic human procedural behavior, in this case, when performing the driving task. This automatic low level control system has been defined, implemented and tested in a Citroen C3 testbed vehicle, whose actuators have been automated and can receive control signals from an onboard computer where the soft computing-based control system is running. <s> BIB001 </s> A Systematic Literature Review about the impact of Artificial Intelligence on Autonomous Vehicle Safety <s> Fuzzy Logic <s> The constant growth of the number of vehicles in today’s world demands improvements in the safety and efficiency of roads and road use. This can be in part satisfied by the implementation of autonomous driving systems because of their greater precision than human drivers in controlling a vehicle. As result, the capacity of the roads would be increased by reducing the spacing between vehicles. Moreover, greener driving modes could be applied so that the fuel consumption, and therefore carbon emissions, would be reduced. This paper presents the results obtained by the AUTOPIA program during a public demonstration performed in June 2012. This driverless experiment consisted of a 100-kilometre route around Madrid (Spain), including both urban and motorway environments. A first vehicle – acting as leader and manually driven – transmitted its relevant information – i.e., position and speed – through an 802.11p communication link to a second vehicle, which tracked the leader’s trajectory and speed while maintaining a safe distance. The results were encouraging, and showed the viability of the AUTOPIA approach. ::: First published online: 28 Jan 2015 <s> BIB002
The authors state this paper is one of the first communications fully describing the control system and techniques required to perform an experiment with autonomous vehicles on open roads. It introduced a different control approach for controlling autonomous vehicles on urban and motorway environments. A method for online adjustment of the CACC fuzzy controller is described and implemented, coping with the most relevant disturbances and uncertain parameters, such as road slopes, passenger weight, or gear ratio. The experiment successfully proves the capability of the developed system to drive more than one hundred kilometres autonomously. A public demonstration of the described system was conducted in June 2012, comprising a 100-km route through urban and motorway environments. It was able to cope with such gaps as motorway overpasses, traffic signals, etc.The authors stated the tracking results obtained with the CACC system were very precise, with the distance error being kept to less than 1 metre. Likewise, the lateral control was able to maintain the vehicle on the path of the leader with acceptable errors for both scenarios. However, the localization system needs to be improved to allow longer GPS gaps. Also, the presence of a 900-metrelong tunnel forced the deactivation of the autonomous system while the vehicle passed through. BIB002 Manage and control low level vehicle actuators (steering throttle and brake) Control schema to manage low level vehicle actuators (steering throttle and brake) based on fuzzy logic Fuzzy Logic The proposed automatic low-level control system has been defined, implemented and tested in a Citroen C3 testbed vehicle, whose actuators have been automated and can receive control signals from an onboard computer where the soft computing-based control system is running. The preliminary results are confirming the potential of the proposed technique. BIB001 Control intersection crossing (all way stops) and optimize it Use a simulation to model and simulate the scenario. Developed a heuristic optimization algorithm for driverless vehicles at unsignalized intersections using a multi-agent system.