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Estrategias de toma de decision adaptativa y cooperativa para conducción autónoma en entornos urbanos

Other TitlesAdaptive and cooperative decision-making strategies for autonomous driving in urban environments
AuthorsArtuñedo, Antonio
AdvisorVillagrá, Jorge ; Haber, Rodolfo
KeywordsDecision-making strategies
Autonomous driving
Urban environments
Issue Date2018
PublisherCSIC - Centro de Automática y Robótica (CAR)
Universidad Politécnica de Madrid
AbstractThis thesis is framed within the area of intelligent control systems and automation. The main objective is the development of advanced strategies for decision making in automated vehicles, taking advantage of both the information available in the vehicle and V2X communications. The uncertainty inherent in the different sensors and V2X communications, as well as the variability of driving scenes in urban environments, make it necessary to design and develop a context-dependent adaptive control architecture. To this end, this doctoral thesis addresses the application of risk inference and motion planning systems capable of integrating uncertainty and heterogeneity in sensory information, while structurally incorporating the possibility of learning from complex and unpredictable situations. The cooperation between vehicles and with the infrastructure will be exploited in order to improve the safety of each vehicle, and in specific cases of complex resolution, with the aim of disbanding situations that today are unsolvable for an artificial decision system.
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