An Object-Oriented Design of a World Model for Autonomous City Vehicles

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Title An Object-Oriented Design of a World Model for Autonomous City Vehicles
Author Furda, Andrei Edmond; Vlacic, Ljubo (Ljubisa)
Publication Title Proceedings of the 2010 IEEE Intelligent Vehicles Symposium IV'10
Editor Yinhai Wang
Year Published 2010
Place of publication San Diego USA
Publisher IEEE
Abstract Abstract—This paper presents an object-oriented world model for the road traffic environment of driverless city vehicles. The developed World Model is a software component within the driverless vehicle's control system, which represents the vehicle's view of its road environment. Regardless whether the information is a priori known, obtained through on-board sensors, or through communication, theWorld Model stores and updates information in real-time, notifies the decision making subsystem about relevant events, and provides access to its stored information. The design is based on software design patterns, and its application programming interface provides both asynchronous and synchronous access to its information. Experimental results of both a 3D simulation and real-world experiments show that the approach is applicable and real-time capable.
Peer Reviewed Yes
Published Yes
Alternative URI http://dx.doi.org/10.1109/IVS.2010.5548138
Copyright Statement Copyright 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.
ISBN 1931-0587
Conference name 2010 IEEE Intelligent Vehicles Symposium IV'10
Location San Diego, United States
Date From 2010-06-21
Date To 2010-06-24
URI http://hdl.handle.net/10072/36822
Date Accessioned 2010-11-05
Date Available 2011-04-18T06:54:38Z
Language en_AU
Research Centre Institute for Integrated and Intelligent Systems
Faculty Faculty of Science, Environment, Engineering and Technology
Subject Control Systems, Robotics and Automation
Publication Type Conference Publications (Full Written Paper - Refereed)
Publication Type Code e1

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