Cyberphysical system for controlling the movement of unmanned vehicles
Authors: Uvaysov S.U. , Chernoverskaya V.V. , Kalinin N.N. , Markin A.A. 
Published: November 2021

The active development of unmanned vehicles, in control systems of which most of the currently created artificial intelligence technologies are used, from machine vision systems to decision-making in multi-criteria control tasks, has led to the emergence of such vehicles on public roads and, in fact, has become an objective reality of ours. life. In such a situation, the person driving needs additional information to drive safely. Currently, the road infrastructure is dynamically developing, forming into a developed distributed telecommunication system with accompanying services. And now it is increasingly associated with the concept of "intelligent transport system" (ITS), to which are connected automotive equipment subsystems, wireless communication subsystems, roadside equipment subsystems and a global navigation satellite system module. Unmanned vehicles, which are integrated into the road environment, form a single telecommunication system for controlling the movement of vehicles with it. Wireless technologies and digital models of road infrastructure are important components of such a system. The information technology concept, which implies the integration of computing resources into physical entities, in particular autonomous robots and unmanned vehicles, is called the concept of cyber-physical systems. The computational component in it is distributed throughout the system. The study of the possibility of constructing digital models of roads and road infrastructure with their subsequent intrasystem transfer between interacting objects is undoubtedly of considerable interest. At the research stage of the implementation of such a technology, it is important to analyze the possibility of building and deploying modern ITS, highlight the main problems associated with the visualization of digital ITS models, and propose ways to solve the tasks. As part of the study, an overview of modern wireless technologies and communication standards with the prospect of their application in the infrastructure of the road environment is given, foreign experience of deploying such systems, their features and limitations, is considered. The functional structure of the intelligent transport system is proposed. The results of modeling the road network (creating a digital model of roads) and the practical implementation of software for compiling local maps are presented. The developed software took into account the shortcomings of specialized products on the market, and also implemented the possibility of converting a digital model of roads into the MAPEM format. After preprocessing MAPEM files, they are placed on the server of the intelligent transport system, from where they are then sent via RSU. RSUs start broadcasting this information, and it goes to the unmanned vehicle, which, in turn, processes the received file and waits for a request to move. Upon receipt of such a request, it builds the trajectory of the path and starts moving. The techniques obtained as a result of the research were implemented and applied at the test site.