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Cyber physical running evaluation of a tiny driving Pod with driving schedule for a driving system through the tunnel

The robot is driven by drive commands of a driving schedule within a predefined time variance along the scheduled route. The 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. | Journal of Automation and Control Engineering Vol. 5, No. 2, December 2017 Cyber-Physical Running Evaluation of a Tiny Driving Pod with Driving Schedule for a Driving System through the Tunnel Min-Hwan Ok, Suyong Choi Korea Railroad Research Institute/HTX Research Team, Uiwang, South Korea Email: panflute00@naver.com Kwan-sup Lee KRRI/High-speed Rail-system Research Division, Uiwang, South Korea Email: suchoi@krri.re.kr Abstract— 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. 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. Acceleration/deceleration is performed with altering wheel rotations for the robot's drive on the route. The robot is driven by drive commands of a driving schedule within a predefined time variance along the scheduled route. The 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. 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 .