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Decision-making Strategies for Automated Driving in Urban Environments

Record Type:	Language materials, printed : Monograph/item
Title/Author:	Decision-making Strategies for Automated Driving in Urban Environments/ by Antonio Artuñedo.
Author:	Artuñedo, Antonio.
Description:	XVIII, 195 p. 117 illus., 108 illus. in color.online resource. :
Contained By:	Springer Nature eBook
Subject:	Robotics. -
Online resource:	https://doi.org/10.1007/978-3-030-45905-5
ISBN:	9783030459055

Decision-making Strategies for Automated Driving in Urban Environments
Artuñedo, Antonio.

Decision-making Strategies for Automated Driving in Urban Environments[electronic resource] /by Antonio Artuñedo. - 1st ed. 2020. - XVIII, 195 p. 117 illus., 108 illus. in color.online resource. - Springer Theses, Recognizing Outstanding Ph.D. Research,2190-5053. - Springer Theses, Recognizing Outstanding Ph.D. Research,.

Introduction -- Literature Overview -- Decision Making Architecture -- Global Planning and Mapping -- Motion Prediction and Manoeuvre Planning -- Optimal Trajectory Generation -- Integration and Demonstrations.

This book describes an effective decision-making and planning architecture for enhancing the navigation capabilities of automated vehicles in the presence of non-detailed, open-source maps. The system involves dynamically obtaining road corridors from map information and utilizing a camera-based lane detection system to update and enhance the navigable space in order to address the issues of intrinsic uncertainty and low-fidelity. An efficient and human-like local planner then determines, within a probabilistic framework, a safe motion trajectory, ensuring the continuity of the path curvature and limiting longitudinal and lateral accelerations. LiDAR-based perception is then used to identify the driving scenario, and subsequently re-plan the trajectory, leading in some cases to adjustment of the high-level route to reach the given destination. The method has been validated through extensive theoretical and experimental analyses, which are reported here in detail.

ISBN: 9783030459055

Standard No.: 10.1007/978-3-030-45905-5doiSubjects--Topical Terms:

561941
Robotics.

LC Class. No.: TJ210.2-211.495

Dewey Class. No.: 629.892

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