Research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomy
The objective of this work is to assess the possibility of driving unmanned vehicles in a convoy, depending on the vehicle type (wheeled or tracked, level 0, according to SAE J3016), and the mutual coincidence with a human-controlled vehicle in accordance with the driving scenario adopted. The asse...
Saved in:
| Main Authors: | , , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Faculty of Transport, Warsaw University of Technology
2024-12-01
|
| Series: | Archives of Transport |
| Subjects: | |
| Online Access: | https://www.archivesoftransport.com/index.php/aot/article/view/652 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1832595653251825664 |
|---|---|
| author | Tomasz Pusty Marcin Mieteń Jarosław Pilich Przemysław Simiński Włodzimierz Kupicz Ryszard Lewiński Jaromir Mysłowski |
| author_facet | Tomasz Pusty Marcin Mieteń Jarosław Pilich Przemysław Simiński Włodzimierz Kupicz Ryszard Lewiński Jaromir Mysłowski |
| author_sort | Tomasz Pusty |
| collection | DOAJ |
| description |
The objective of this work is to assess the possibility of driving unmanned vehicles in a convoy, depending on the vehicle type (wheeled or tracked, level 0, according to SAE J3016), and the mutual coincidence with a human-controlled vehicle in accordance with the driving scenario adopted. The assessment is based on tests carried out while driving the vehicles along a designated route and measuring the physical quantities that describe the vehicles’ motion, such as the components of the velocity vectors and distances between the vehicles. The tests were carried out on a safe training ground, using inertial-satellite devices mounted on the vehicles; they provide a good basis for planning the minimum passage corridor for a column of vehicles. During the tests, the expected distances between the vehicles were recorded and analyzed depending on the above-mentioned types of the vehicles; based on that, the possibility of using the technology in the carrying out of various missions for the needs of the tactical level units of the Polish Armed Forces was preliminarily assessed. The required lane width for the safe passage of Target 1, Hunter and Target 2 vehicles along the designated routes was calculated, taking into account the external dimensions of the vehicles, the additional widths associated with the vehicles' yaw angles and the maximum lateral distances between the vehicles. During tests of a convoy of remote-controlled vehicles, maintaining a speed of 1.5 m/s and a distance of 10 m, the requirements for the lane width for safe passage were analyzed. The largest lateral gaps were observed between Target 2 and Hunter vehicles, which may affect the planning of the convoy route. The differences in lane width between the two tests were due to the yaw angles of the vehicles and their different dimensions and drive types. In the first test, the lane width for Target 1 and Hunter was 5.50 m and for Target 2 3.70 m; in the second test it was reduced to 3.73 m and increased to 3.75 m, respectively.
|
| format | Article |
| id | doaj-art-eeff31523846400195a76063abae22cf |
| institution | Kabale University |
| issn | 0866-9546 2300-8830 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | Faculty of Transport, Warsaw University of Technology |
| record_format | Article |
| series | Archives of Transport |
| spelling | doaj-art-eeff31523846400195a76063abae22cf2025-01-18T12:23:30ZengFaculty of Transport, Warsaw University of TechnologyArchives of Transport0866-95462300-88302024-12-0172410.61089/aot2024.xdtvm095Research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomyTomasz Pusty0https://orcid.org/0000-0003-1324-5384Marcin Mieteń1https://orcid.org/0000-0003-0290-4073Jarosław Pilich2https://orcid.org/0000-0003-2917-3952Przemysław Simiński3https://orcid.org/0000-0002-2323-3152Włodzimierz Kupicz4https://orcid.org/0000-0001-8155-7107Ryszard Lewiński5https://orcid.org/0000-0003-3477-9676Jaromir Mysłowski6https://orcid.org/0000-0002-5464-7622Military Institute of Armoured and Automotive Technology, Sulejówek, PolandMilitary Institute of Armoured and Automotive Technology, Sulejówek, PolandMilitary Institute of Armoured and Automotive Technology, Sulejówek, PolandMilitary Institute of Armoured and Automotive Technology, Sulejówek, PolandMilitary Institute of Armoured and Automotive Technology, Sulejówek, PolandMilitary University of Technology, Warsaw, PolandMaritime University of Szczecin, Szczecin, Poland The objective of this work is to assess the possibility of driving unmanned vehicles in a convoy, depending on the vehicle type (wheeled or tracked, level 0, according to SAE J3016), and the mutual coincidence with a human-controlled vehicle in accordance with the driving scenario adopted. The assessment is based on tests carried out while driving the vehicles along a designated route and measuring the physical quantities that describe the vehicles’ motion, such as the components of the velocity vectors and distances between the vehicles. The tests were carried out on a safe training ground, using inertial-satellite devices mounted on the vehicles; they provide a good basis for planning the minimum passage corridor for a column of vehicles. During the tests, the expected distances between the vehicles were recorded and analyzed depending on the above-mentioned types of the vehicles; based on that, the possibility of using the technology in the carrying out of various missions for the needs of the tactical level units of the Polish Armed Forces was preliminarily assessed. The required lane width for the safe passage of Target 1, Hunter and Target 2 vehicles along the designated routes was calculated, taking into account the external dimensions of the vehicles, the additional widths associated with the vehicles' yaw angles and the maximum lateral distances between the vehicles. During tests of a convoy of remote-controlled vehicles, maintaining a speed of 1.5 m/s and a distance of 10 m, the requirements for the lane width for safe passage were analyzed. The largest lateral gaps were observed between Target 2 and Hunter vehicles, which may affect the planning of the convoy route. The differences in lane width between the two tests were due to the yaw angles of the vehicles and their different dimensions and drive types. In the first test, the lane width for Target 1 and Hunter was 5.50 m and for Target 2 3.70 m; in the second test it was reduced to 3.73 m and increased to 3.75 m, respectively. https://www.archivesoftransport.com/index.php/aot/article/view/652autonomous vehiclesunmanned ground vehiclesdriving in a columnwheeled vehiclestracked vehiclesminimal distance between vehicles |
| spellingShingle | Tomasz Pusty Marcin Mieteń Jarosław Pilich Przemysław Simiński Włodzimierz Kupicz Ryszard Lewiński Jaromir Mysłowski Research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomy Archives of Transport autonomous vehicles unmanned ground vehicles driving in a column wheeled vehicles tracked vehicles minimal distance between vehicles |
| title | Research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomy |
| title_full | Research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomy |
| title_fullStr | Research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomy |
| title_full_unstemmed | Research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomy |
| title_short | Research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomy |
| title_sort | research on the possibility of carrying out convoy driving missions using vehicles with varying degrees of autonomy |
| topic | autonomous vehicles unmanned ground vehicles driving in a column wheeled vehicles tracked vehicles minimal distance between vehicles |
| url | https://www.archivesoftransport.com/index.php/aot/article/view/652 |
| work_keys_str_mv | AT tomaszpusty researchonthepossibilityofcarryingoutconvoydrivingmissionsusingvehicleswithvaryingdegreesofautonomy AT marcinmieten researchonthepossibilityofcarryingoutconvoydrivingmissionsusingvehicleswithvaryingdegreesofautonomy AT jarosławpilich researchonthepossibilityofcarryingoutconvoydrivingmissionsusingvehicleswithvaryingdegreesofautonomy AT przemysławsiminski researchonthepossibilityofcarryingoutconvoydrivingmissionsusingvehicleswithvaryingdegreesofautonomy AT włodzimierzkupicz researchonthepossibilityofcarryingoutconvoydrivingmissionsusingvehicleswithvaryingdegreesofautonomy AT ryszardlewinski researchonthepossibilityofcarryingoutconvoydrivingmissionsusingvehicleswithvaryingdegreesofautonomy AT jaromirmysłowski researchonthepossibilityofcarryingoutconvoydrivingmissionsusingvehicleswithvaryingdegreesofautonomy |