Autonomous 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. ; This work has been partially funded by the Spanish Ministry of Science, Innovation and Universities with National Project COGDRIVE (DPI2017- 86915-C3-1-R), and by the European Commission through the Project PRYSTINE (ECSEL-783190-2). ; Peer reviewed
A decision-making architecture for automated driving without detailed prior maps
2019-08-29
2169-3536
Article (Journal)
Electronic Resource
English
DDC: | 629 |
A DECISION-MAKING ARCHITECTURE FOR AUTOMATED DRIVING WITHOUT DETAILED PRIOR MAPS
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