A Cooperating Autonomous Road Vehicle Platform

Abstract A cooperating autonomous vehicle platform is introduced in this paper for research work on automated path following and cooperative mobility. This platform is implemented on the autonomous research vehicle Okanom of Istanbul Okan University. The hardware and software components added to Okanom for cooperative autonomous driving are presented. The GPS/INS system implemented in Okanom for autonomous following of GPS waypoint trajectories is explained. The low level lateral and longitudinal controllers used in this platform are given and a robust parameter space lateral steering controller design is presented. A double lane change simulation using the experimentally validated model of Okanom is used to illustrate the effectiveness of the designed steering controller. Information on experimental work in progress and past experimental work are also presented.