Plateforme
Véhicules Autonomes
PACPUS is a technological research platform hosted at the Heudiasyc Joint Research Unit 7253 UTC/CNRS. It aims to integrate the tools and resources to carry out research and experiments in the field of intelligent vehicles. One of the main aims of the platform is to develop, integrate and test ADAS (Advanced Driver Assistance Systems) functions and more especially in the context of Autonomous Vehicles. The platform is composed of 6 experimental vehicles, testing facilities and software.
Carmen testbed
CARMEN is a Citroën C5 dedicated to the robotic perception. Several problematics are tested on the testbed : robust and reliable localization, local dynamic map, obstacles detection, exploitation of digital maps...
The experimental car Carmen has the following equipments : a Velodyne HDL-64E, a Novatel SPAN-CPT for the localization (RTK enabled), a front Lidar Ibeo Alasca XT, a front 77GHz TRW AC20, a Mobileye C2-270 (measurement of the safety distance, white lines and obstacles detection), several vision systems (stereovision, Infrared camera, TOF cameras), driver observation systems (FaceLab, SmartEye and SMI glasses), a full access to the CAN bus of the car.
DYNA - vehicle dynamics
DYNA is the testbed dedicated to the vehicle dynamics development. The car is equipped with the following sensors : 4 Kistler RoaDyn measuring wheels, a Corrsys Datron Correvit, a Crossbow IMU VG700AB, 4 Corrsys height sensors, a Ibeo LUX-8L front lidar, a realtime acquisition system (2kHz data acquisition), a embedded computer with data processing high capabilities. Additionnal sensors like GPS receiver, cameras, ... could be installed according to needs of the projet.
All the instrumentation of the car was done by the technical staff of the laboratory : the electrical power supply and the installation of the sensors was done locally, the lowlevel software uses a realtime Xenomai Linux to guarantee the synchronisation and the timestamping of the data, the highlevel software including the ADAS modules and the project applications use the PACPUS framework.
IRIS (IRIS is a Robotized Intelligent System)
IRIS is one of the autonomous car of the Heudiasyc laboratory. It was acquired in 2012 in the framework of the ROBOTEX project.
APAChE (Autonomous car and driving partner)
The 2 APAChE cars are equipments of the ROBOTEX project and are fully controllable by computer. The embedded technology enables the ECUs of the laboratory to drive the car by wire. Especially a cooperative mode has been developped to transform the vehicle in a driving partner that would enforce your safety on the road. The vehicles are equipped with a dedicated instrumentation to carry out real experiments : front and rear multi-layer lidars, 3 front 24 GHz radars, onboard cameras, GNSS localization systems, 802.11p radio modems for V2V and V2I communications.
VILAD (Vehicle In the Loop testbed for Autonomous Driving)
VILAD is a 4WD hub to test robot cars. The 4 dynamometers will reproduce the road in acceleration and braking phases of the vehicle and an automotive simulator will provide the sensors data and the dynamics to the control algortihms. VILAD, Vehicle In the Loop testbed for Autonomous Driving The VIL testbed was designed to experiment repetable and faulty scenarii with autonomous cars. The environment and vehicle dynamics are simulated and the road grip is reproduced by a bi-directionnal 4WD testbed. The complete electronic architecture of the vehicle and the robotics tasks are tested in real-time. As all of the inputs of the control algorithms are provided as in the reality, we can easily diagnose and improve the behavior of the robot before testing it on tracks.
Retour
CARMEN is a Citroën C5 dedicated to the robotic perception. Several problematics are tested on the testbed : robust and reliable localization, local dynamic map, obstacles detection, exploitation of digital maps...
The experimental car Carmen has the following equipments : a Velodyne HDL-64E, a Novatel SPAN-CPT for the localization (RTK enabled), a front Lidar Ibeo Alasca XT, a front 77GHz TRW AC20, a Mobileye C2-270 (measurement of the safety distance, white lines and obstacles detection), several vision systems (stereovision, Infrared camera, TOF cameras), driver observation systems (FaceLab, SmartEye and SMI glasses), a full access to the CAN bus of the car.
DYNA - vehicle dynamics
DYNA is the testbed dedicated to the vehicle dynamics development. The car is equipped with the following sensors : 4 Kistler RoaDyn measuring wheels, a Corrsys Datron Correvit, a Crossbow IMU VG700AB, 4 Corrsys height sensors, a Ibeo LUX-8L front lidar, a realtime acquisition system (2kHz data acquisition), a embedded computer with data processing high capabilities. Additionnal sensors like GPS receiver, cameras, ... could be installed according to needs of the projet.
All the instrumentation of the car was done by the technical staff of the laboratory : the electrical power supply and the installation of the sensors was done locally, the lowlevel software uses a realtime Xenomai Linux to guarantee the synchronisation and the timestamping of the data, the highlevel software including the ADAS modules and the project applications use the PACPUS framework.
IRIS (IRIS is a Robotized Intelligent System)
IRIS is one of the autonomous car of the Heudiasyc laboratory. It was acquired in 2012 in the framework of the ROBOTEX project.
APAChE (Autonomous car and driving partner)
The 2 APAChE cars are equipments of the ROBOTEX project and are fully controllable by computer. The embedded technology enables the ECUs of the laboratory to drive the car by wire. Especially a cooperative mode has been developped to transform the vehicle in a driving partner that would enforce your safety on the road. The vehicles are equipped with a dedicated instrumentation to carry out real experiments : front and rear multi-layer lidars, 3 front 24 GHz radars, onboard cameras, GNSS localization systems, 802.11p radio modems for V2V and V2I communications.
VILAD (Vehicle In the Loop testbed for Autonomous Driving)
VILAD is a 4WD hub to test robot cars. The 4 dynamometers will reproduce the road in acceleration and braking phases of the vehicle and an automotive simulator will provide the sensors data and the dynamics to the control algortihms. VILAD, Vehicle In the Loop testbed for Autonomous Driving The VIL testbed was designed to experiment repetable and faulty scenarii with autonomous cars. The environment and vehicle dynamics are simulated and the road grip is reproduced by a bi-directionnal 4WD testbed. The complete electronic architecture of the vehicle and the robotics tasks are tested in real-time. As all of the inputs of the control algorithms are provided as in the reality, we can easily diagnose and improve the behavior of the robot before testing it on tracks.
