DocumentCode :
3127278
Title :
A three-level control architecture for autonomous vehicle driving in a dynamic and uncertain traffic environment
Author :
Miura, Jun ; Ito, Motokuni ; Shirai, Yoshiaki
Author_Institution :
Dept. of Comput.-Controlled Mech. Syst., Osaka Univ., Japan
fYear :
1997
fDate :
9-12 Nov 1997
Firstpage :
706
Lastpage :
711
Abstract :
This paper proposes a novel control architecture for autonomous vehicle driving in a dynamic and uncertain traffic environment. The architecture is composed of three levels: (1) the operational level deals with a reactive control of a vehicle in a short time cycle; (2) the tactical level decides proper maneuvers based on prediction of future states using probabilistic traffic models; (3) the meta-tactical level, which is the feature of the architecture, timely activates an appropriate tactical-level planning procedure according to both the history of maneuvers and the current traffic condition. A utility-based maneuver evaluation method is also described. The proposed architecture was tested on a highway driving simulator in various traffic scenarios; simulation results show the feasibility of the architecture
Keywords :
automated highways; automobiles; hierarchical systems; mobile robots; uncertain systems; autonomous vehicle driving; dynamic traffic environment; highway driving simulator; meta-tactical level; operational level; probabilistic traffic models; reactive control; tactical level; tactical-level planning procedure; three-level control architecture; uncertain traffic environment; utility-based maneuver evaluation method; Automated highways; Computer architecture; Control systems; History; Remotely operated vehicles; Road vehicles; Testing; Traffic control; Vehicle driving; Vehicle dynamics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Transportation System, 1997. ITSC '97., IEEE Conference on
Conference_Location :
Boston, MA
Print_ISBN :
0-7803-4269-0
Type :
conf
DOI :
10.1109/ITSC.1997.660560
Filename :
660560
Link To Document :
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