EMS-Vision: enhanced abilities for locomotion

Over the last years, the expectation based multi-focal saccadic vision system (EMC-Vision) for autonomous vehicles has been developed. This not only required an adaption and restructuring of vehicle guidance but also a development of enhanced abilities for locomotion. In the course of integration of vehicle guidance to the new system, the locomotion part received a new structure and has been extended. By means of the "turn-off" maneuver it is shown how single phases of a driving maneuver are triggered and how the transition conditions are generated. During a maneuver phase, command variables for the longitudinal and lateral controllers are generated. The locomotion unit is implemented on both test vehicles VAMORs and VAMP of UBM. Only the hardware specific part depends on the type of vehicle, otherwise, the vehicle guidance is the same for both experimental vehicles.