English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/218371
Share/Impact:
Statistics
logo share SHARE logo core CORE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL
Exportar a otros formatos:

Title

A decision-making architecture for automated driving without detailed prior maps

AuthorsArtuñedo, Antonio ; Godoy, Jorge ; Villagrá, Jorge
KeywordsDecision making
Mobile robots
Path planning
Road vehicles
Robot vision
Issue Date29-Aug-2019
PublisherInstitute of Electrical and Electronics Engineers
CitationIEEE Intelligent Vehicles Symposium (IV): (2019)
AbstractAutonomous driving requires general methods to generalize unpredictable situations and reason in complex scenarios where safety is critical and the vehicle must react in a reliable manner. In this sense, digital maps are a crucial component for relating the location of the vehicle and identifying the different road features. In this work, we present a decision-making architecture which does not require detailed prior maps. Instead, OSM is used to plan a global route and an automatically generate driving corridors, which are adapted using a proposed vision-based algorithm. Moreover, a grid-based approach is also applied to consider the localization uncertainty. Those self-generated driving corridors are used by the local planner to plan the trajectories the vehicle will follow. Our approach integrates global, local and HMI components to provide the required functionalities for autonomous driving in a general manner.
Publisher version (URL)http://dx.doi.org/10.1109/IVS.2019.8814070
URIhttps://autopia.car.upm-csic.es/wp-content/papercite-data/pdf/artunedo2019a.pdf
http://hdl.handle.net/10261/218371
DOI10.1109/IVS.2019.8814070
E-ISSN2169-3536
Appears in Collections:(CAR) Artículos
Files in This Item:
File Description SizeFormat 
A_decision-making_architecture.pdfArtículo principal3,2 MBAdobe PDFThumbnail
View/Open
Show full item record
Review this work
 


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.