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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
Appears in Collections:(CAR) Artículos
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