Cyber-Physical Control of Indoor Multi-vehicle Testbed for Cooperative Driving

TL;DR

This paper presents an indoor multi-vehicle cyber-physical testbed for cooperative driving, integrating wireless networked control systems, vehicle prototypes, and indoor positioning for testing cooperative algorithms.

Contribution

It introduces a novel indoor multi-vehicle testbed with real vehicle prototypes, wireless communication, and indoor positioning for validating cooperative driving algorithms.

Findings

Successful implementation of cooperative driving scenarios in indoor environment

Effective indoor positioning using particle filter with IMU and Bluetooth beacons

Demonstrated control using Model Predictive Control with Kalman Filter observer

Abstract

The system of connected vehicle to vehicle and vehicle to infrastructure can be considered as a wireless cyberphysical system of systems (Wireless CPSoS), which will be provided with the high ability of adaptive control on system of systems, cooperative scenarios to control of a Wireless CPSoS and adaptive wireless networked control system (WNCS). In this paper we present our multi-vehicle testbed based on the cyber-physical system that was designed for verification and validation of cooperative driving algorithm involving WNCS testing. Vehicles were developed as the physical prototype equipped with Raspberry-pi microprocessor and other sensing elements. This testbed consists of a fleet of 4 robot vehicles. An indoor positioning system (IPS) based on particle filter is purposed by using an inertial measurement unit (IMU) and iBeacon that is built upon Bluetooth Low Energy. Some typical cooperative driving scenarios can be implemented on this testbed under indoor laboratory. The method used to realize the objective statement was Model Predictive Control (MPC) with a state observer based on a Kalman Filter (KF). Because the wireless control systems can be severely affected by the imperfections of the wireless communication link. Our experimental testbed paves the way for testing and evaluating more intelligent cooperative driving scenario with the use new wireless technology and control system in the future.