Real-Time Decision Making for Autonomous City Vehicles

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Title Real-Time Decision Making for Autonomous City Vehicles
Author Furda, Andrei Edmond; Vlacic, Ljubo (Ljubisa)
Journal Name Journal of Robotics and Mechatronics
Editor Tatsuo Arai
Year Published 2010
Place of publication Japan
Publisher Fuji Technology Press Ltd
Abstract This paper addresses the topic of real-time decision making for autonomous city vehicles, i.e. their ability to make appropriate driving decisions in any city traffic situation. After explaining the research question and addressing the state of research, the paper presents the vehicle decision making & control system architecture, explains the subcomponents which are relevant for decision making (World Model and Driving Maneuver subsystem), and presents the decision making process, which consists of two consecutive stages. While the first decision making stage uses a Petri net to model the safety-critical selection of feasible driving maneuvers, the second stage uses Multiple Criteria Decision Making (MCDM) methods to select the most appropriate driving maneuver, focusing on fulfilling objectives related to efficiency and comfort. Experimental tests in both a 3D simulation and realworld experiments attest that the developed approach is suitable to deal with the complexity of real-world city traffic situations.
Peer Reviewed Yes
Published Yes
Alternative URI
Volume 22
Issue Number 6
Page from 694
Page to 701
ISSN 0915-3942
Date Accessioned 2011-01-04
Language en_AU
Faculty Faculty of Science, Environment, Engineering and Technology
Subject Control Systems, Robotics and Automation
Publication Type Journal Articles (Refereed Article)
Publication Type Code c1

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