Decision-making strategies for automated driving in urban environments / Antonio Artunedo.
Artunedo, Antonio.
2020
TL152.8
Available Online

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Title Decision-making strategies for automated driving in urban environments / Antonio Artunedo.
Author Artunedo, Antonio.
ISBN 9783030459055 (electronic book)
3030459055 (electronic book)
3030459047
9783030459048
DOI https://doi.org/10.1007/978-3-030-45
Publication Details Cham : Springer, 2020.
Language English
Description 1 online resource
Item Number 10.1007/978-3-030-45
Call Number TL152.8
Dewey Decimal Classification 629.04/6
Summary 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.
Note "Doctoral Thesis accepted by Universidad Politécnica de Madrid, Spain."
Bibliography, etc. Note Includes bibliographical references.
Access Note Access limited to authorized users.
Series Springer theses.
Available in Other Form Print version: 9783030459048
Linked Resources Online Access
Record Appears in Online Resources > Ebooks
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Introduction
Literature Overview
Decision Making Architecture
Global Planning and Mapping
Motion Prediction and Manoeuvre Planning
Optimal Trajectory Generation
Integration and Demonstrations.

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