SAFERUN Updates

echordMod

safety tests

A new set of experiments has been performed in the Elettric 80 demo site. They were conceived to show that the new SAFERUN planner preserves the high safety standards which are typical of the Elettric 80 plants.

In each experiment an obstacle was placed on a critical position along the vehicle trajectory. Practically, the positions were selected such that the available stop distances, i.e., the distances to the obstacle when this latter is detected, are minimal. In the tests, the SAFERUN planner was compared with the standard one, but the cruising speed assumed for this latter was increased in order to obtain the same time performances.

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The performances of the SAFERUN velocity planning algorithm have been experimentally tested in the demo plant of Elettric 80. Tests were conceived to determine the gains, in terms of execution-times, that the new algorithm can guarantee w.r.t. the one currently used in the commercial vehicles of Elettric 80. The tests were executed by considering paths with different curvature and by verifying the achieved performances for each of them.

ostacoli unsafe curva 2 ESEMPIO

Before the actual sperimental phase begins, the new speed planner has been tested through the execution of numerical simulations, in order to verify its performances in realistic scenarios. Comparisons w.r.t. the performances of the planner currently used by Elettric 80 have shown that the new strategy allows for travelling times reductions in the range from 10% to 30%. The highest gains are obtained with very sharp curves, for which it is common to reach peaks of 60%.

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The project enters the experimental phase. The new planner has been ported from the Matlab environment to the C++ language in order to be executed on the PLCs which govern the test LGVs. The integration work required to introduce many changes in the software code of the test vehicles and of the plant supervisors. The new supervisors are now able to manage plants in which new vehicles work together with old ones. This required solving several problems, since old and new vehicles behave differently and need different sets of data for the execution of the same curves. This requirement is fundamental for the execution of the tests in the PreGel plant, since in that framework the experimental vehicle will necessarily work together with standard LGVs.

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