This paper proposes a multi-level collaborative driving framework (MCDF) for human-autonomous vehicle interaction. There are three components in MCDF; the mission-behavior-motion block diagram, the functionality-module relationship and the human participation level table. Through integration of the three components, a human driver can cooperate with the vehicle's intelligence to achieve better driving performance, robustness and safety. The MCDF is successfully implemented in TROCS, a real-time autonomous vehicle control system developed by the Tartan Racing Team for the 2007 DARPA Urban Challenge. The performance of MCDF is analyzed and a preliminary test in TROCS simulation mode shows that MCDF is effective in improving the driving performance.


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    Title :

    A multi-level collaborative driving framework for autonomous vehicles


    Contributors:


    Publication date :

    2009-09-01


    Size :

    428250 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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