| Autor: |
Byungjae Park, Kyounghwan An, Wooyong Han, Samyeul Noh, Yongbon Koo |
| Rok vydání: |
2015 |
| Předmět: |
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| Zdroj: |
ETRI Journal. 37:1032-1043 |
| ISSN: |
1225-6463 |
| DOI: |
10.4218/etrij.15.0114.0095 |
| Popis: |
ETRI's Co-Pilot project is aimed at the development of an automated vehicle that cooperates with a driver and interacts with other vehicles on the road while obeying traffic rules without collisions. This paper presents a core block within the Co-Pilot system; the block is named "Co-Pilot agent" and consists of several main modules, such as road map generation, decision-making, and trajectory generation. The road map generation builds road map data to provide enhanced and detailed map data. The decision-making, designed to serve situation assessment and behavior planning, evaluates a collision risk of traffic situations and determines maneuvers to follow a global path as well as to avoid collisions. The trajectory generation generates a trajectory to achieve the given maneuver by the decision-making module. The system is implemented in an open-source robot operating system to provide a reusable, hardware-independent software platform; it is then tested on a closed road with other vehicles in several scenarios similar to real road environments to verify that it works properly for cooperative driving with a driver and automated driving. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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