Autonomous Vehicle Lab

Autonomous vehicle lab

Speed0

Driving state-

Gap: true / fused-

Time to collision-

Stopping distance-

Collisions / min gap0

Scenarios

Controls

Lead car on the road Radar (range, Doppler speed) Lidar (precise range) Camera (range from image size) Emergency braking assist (also when driving manually)

Manual driving: arrow keys or WASD, or the on-screen pad. Drag pedestrians and the lead car, or click the road to add a pedestrian.

Model: kinematic bicycle (wheelbase 2.7 m); pure-pursuit steering; Intelligent Driver Model car following (Treiber et al. 2000); emergency braking when the deceleration needed to stop exceeds 55 % of mu g; Kalman filter fusing radar, lidar and camera gap measurements plus radar Doppler; friction limits braking and cornering. Teaching model, not production software.