Figure 3: Previous testing platform and the new perception system
Figure 3: Previous testing platform and the new perception system.
Figure 4: Plan of the proposed experiment and the resulting odometry.
Figure 4: Plan of the proposed experiment and the resulting odometry.
Figure 5: Vehicle speed and behaviour signals during the test.
Figure 5: Vehicle speed and behaviour signals during the test.
Figure G.1: Aerial comparison of the real campus and the simulated model.
Figure G.1: Aerial comparison of the real campus and the simulated model.
Figure G.2: Sample of the creation of driving lanes.
Figure G.2: Sample of the creation of driving lanes
Figure G.3: Simulated model of the real experimental vehicle.
Figure G.3: Simulated model of the real experimental vehicle.
Figure 6a - Intersection Scenario
Figure 6b - Intersection Odometry of each CCAV.
Figure 8a - Vehicles Approaching the Intersection
Figure 8b - Vehicles Arbitrated for Entry
Figure 8c - Vehicles arbitrated for Stop
Figure 8d - Final Stage of Arbitration
Figure 9a - Roundabout Scenario
Figure 9b - Roundabout CCAV Odometry
Figure 3. Carla world experimentation use cases.
Figure 3a. Custom ABP
Figure 3b. Stop ABP
Figure 3c. Critical Failure
Figure 3d. Sensor Failure.
Figure 4. Result road plans followed with odometry and ABPs.
Figure 4a. Custom ABP Plan
Figure 4b. Stop ABP Plan
Figure 4c. Critical Failure Plan
Figure 4d. Sensor Failure Plan
Figure 5. Vehicle speed and behavior activation during testing.
Figure 5a. Custom ABP
Figure 5b. Stop ABP
Figure 5c. Critical Failure
Figure 5d. Sensor Failure
