An object-oriented design of a World Model for autonomous city vehicles
Furda, Andrei & Vlacic, Ljubo (2010) An object-oriented design of a World Model for autonomous city vehicles. In 2010 IEEE Intelligent Vehicles Symposium, IEEE Xplore, San Diego, California, USA, pp. 1054-1059.
This paper presents an object-oriented world model for the road traffic environment of autonomous (driver-less) city vehicles. The developed World Model is a software component of the autonomous vehicle's control system, which represents the vehicle's view of its road environment. Regardless whether the information is a priori known, obtained through on-board sensors, or through communication, the World Model stores and updates information in real-time, notifies the decision making subsystem about relevant events, and provides access to its stored information. The design is based on software design patterns, and its application programming interface provides both asynchronous and synchronous access to its information. Experimental results of both a 3D simulation and real-world experiments show that the approach is applicable and real-time capable.
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|Item Type:||Conference Paper|
|Keywords:||Autonomous vehicle, Vehicle control system, Object-oriented programming|
|Divisions:||Current > Schools > School of Information Systems
Current > QUT Faculties and Divisions > Science & Engineering Faculty
|Copyright Owner:||Copyright 2010 IEEE|
|Copyright Statement:||Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.|
|Deposited On:||03 Jun 2014 23:01|
|Last Modified:||21 Sep 2014 22:51|
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