Automation of the UNICARagil Vehicles

Authors

Dr.-Ing. Michael Buchholz, Fabian Gies, M.Sc., Andreas Danzer, M.Sc.,  Matti Henning, M.Sc., Charlotte Hermann, M.Sc., Manuel Herzog, M.Sc., Markus Horn, M.Sc., Markus Schön, M.Sc., Nils Rexin, M.Sc., Prof. Dr.-Ing. Klaus Dietmayer, Institute of Measurement, Control and Microtechnology, Ulm University, Ulm, Germany;
Carlos Fernandez, Ph.D., Johannes Janosovits, M.Sc., Danial Kamran, M.Sc.,  Christian Kinzig, M.Sc., Dr. Martin Lauer, Eduardo Molinos, Ph.D.,  Prof. Dr.-Ing. Christoph Stiller, Lingguang Wang, M.Sc., Institute of Measurement and Control Systems, Karlsruhe Institute of Technology, Karlsruhe, Germany;
Stefan Ackermann, M.Sc., Tobias Homolla, M. Sc.,  Prof. Dr. rer. nat. Hermann Winner, Institute of Automotive Engineering, Technical University of Darmstadt, Darmstadt, Germany;
Grischa Gottschalg, M.Sc., Dr.-Ing. Stefan Leinen, Prof. Dr.-Ing. Matthias Becker, Institute of Geodesy, Chair of Physical Geodesy and Satellite Geodesy, Technical University of Darmstadt, Darmstadt, Germany; 
Johannes Feiler, M.Sc., Simon Hoffmann, M.Sc., Dr.-Ing. Frank Diermeyer, Institute of Automotive Technology, Technical University of Munich, Munich, Germany;
Bastian Lampe, M.Sc., Till Beemelmanns, M.Sc., Raphael van Kempen, M.Sc., Timo Woopen, M.Sc., Prof. Dr.-Ing Lutz Eckstein, Institute for Automotive Engineering (ika), RWTH Aachen University, Aachen, Germany;
Nicolai Voget, M.Sc. M.Sc., Prof. Dr.-Ing. Dieter Moormann, Institute of Flight System Dynamics, RWTH Aachen University, Aachen, Germany;
Inga Jatzkowski, M.Sc., Dipl.-Ing. (FH) Torben Stolte, M.Sc.,  Prof. Dr.-Ing. Markus Maurer, Institute of Control Engineering, Technische Universität Braunschweig, Braunschweig, Germany;
Dr.-Ing. Jürgen Graf, Dr.-Ing. Edgar v. Hinüber, iMAR Navigation GmbH, St. Ingbert, Germany;
Dr.-Ing. Norbert Siepenkötter, flyXdrive GmbH, Aachen, Germany

Summary

The German research project UNICARagil is a collaboration between eight universities and six industrial partners funded by the Federal Ministry of Education and Research. It aims to develop innovative modular architectures and methods for new agile, automated vehicle concepts. This paper summarizes the automation approach of the driverless vehicle concept and its modular realization within the four demonstration vehicles to be built by the consortium. On-board each vehicle, this comprises sensor modules for environment perception and modelling, motion planning for normal driving and safe halts, as well as the respective control algorithms and base functionalities like precise localization. A control room and cloud functionalities provide off-board support to the vehicles, which are additionally addressed in this paper.

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