A Drive Controlling of a Tiny Driving Pod along Pathways in the Tunnel

초록

The occurrence of unexpected phenomenon, such as fire, in the tunnel incurs dangerous situation for whom traversing through the tunnel. As there are tunnels with no sensors against fire, it is necessary to check the inside of the tunnels by tiny driving pod, an automatic driving vehicle, equipped with a set of sensors for detecting an outbreak of fire. To carry a set of sensors in the tunnel, the driving controller of a tiny driving pod is primarily required. In this work, the aim is to devise the driving control function for a driving robot, as the tiny driving pod machine, and the guidance function of a directing server, in a given route area. This work has a particular contribution under the premise of a promising future car-driving environment that many of cars are driving beneath the ground in urban regions[1]. The predetermined route of the driving robot is traveled on the unaltered route basis within the fixed travel time. The route calculation function of the directing server designates the predetermined travel route for each driving robot considering the merge of two routes. The robot is driven by drive commands of a driving schedule within a predefined time variance along the scheduled route. The current speed, position, and steering angle are reported in the driving, and this information is displayed on the directing server. There is a route / situation screen that can alter to abort the schedule against an abnormal situation in the current driving. The driving test performed in this work is a miniature-sized implementation of the driving controller of the tiny driving pod which can be realized in the future. Since the actual automatic driving should be exact to the scheduled route, we adopted a control technique proposed in [2] on which vehicle is presupposed as Cyber-Physical System, CPS, for the purpose of automatic driving control. In a miniature-scale experiment the exactness is met with a requirement for the case of basic running test. For the cars driving on the tunnel-way in the future, a miniature-scale experiment is conducted using a driving robot with combinations of basic control-functions. A control technique of the design of a cyber-physical vehicle system is adopted in this basic run test, and we have confirmed the definite travel-time could be applied for driving on the tunnel-way. This definite travel-time basis benefits from the control technique of the design of a cyber-physical vehicle system, and is surmised to be a fundamental property of car-driving on the tunnel-way. The company[1] has furthered its detail plans, which include an underground network of tunnels for both short and long-distance travel, similar to a modernised and higher-speed version of the London Underground and other city metro systems. Although in some important aspects such as safety and security, the tunnel-way is yet to be proven gradually in its steady advance. Despite its steady advance, it is a prominent transportation candidate in futuristics.