Control architecture for Cybernetic Transportation Systems in urban environments

Nowadays, the insertion of Intelligent Transportation System (ITS) in the society is a fact, due to a big number of projects, demonstrations and researches that have been carried out around the world. The Cybernetic Transportation Systems (CTS) are part of the ITS, and these have especial attention thanks to its versatility, adaptability and clean energy characteristics. This paper aims to describe the evolution of the on-demand door-to-door transport systems, with Cybercars, in the framework of the IMARA team. A review of different approaches and the description of the last projects and scenarios with CTSs are considered. This work focuses in a new approach that contemplates a modular architecture, which allows parametric curve generation in real time, considering the different environment conditions-obstacle detections, shape of the road, among others. This architecture has been tested in simulations. These results promise good behavior for its future implementation in real urban scenarios, in the framework of the CityMobil2 project <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">1</sup> .