Moving from analog to digital driving

Abstract

Abstract-This paper presents a new vehicle guidance paradigm based on high level commands together with a new system architecture that can handle different levels of automation. First, an overview of different automation levels spanning from manual driving to fully autonomous driving is given, then a detailed description of the digital driving paradigm is also shown. This includes a detailed description of the maneuver level planner which is based on a new concept of planning based on checkpoints. Then, an overview of the new architecture is given, describing is key aspects. An analysis of the proposed paradigm, with the description of a preliminary tests in real scenarios concludes this paper.

Perception, Planning, Control, and Coordination for Autonomous Vehicles

“…The vehicle may then perform unexpectedly in a situation that was not explicitly accounted for in the FSM structure, perhaps finding itself in a livelock, or even a deadlock state if there aren't sufficient deadlock protections. Recent research works have sought to improve organization in large decision making structures to thus manage larger rules sets [198][199][200]. Other works have sought provable assurances in the decision making structure to guarantee adherence to rules sets [201].…”

“…The approaches had an advantage of computational simplicity in that they planned in a low dimensional space neglecting the time dimension, but the resulting behaviors were overly simplistic in that a deterministic set behavior was executed without heuristic weighting of alternative actions or explicit consideration for environment evolution given the chosen course of action. Nevertheless, recent works have still continued to use behavioral level decision making for obstacle avoidance, especially to handle difficult maneuvers such as lane changing [198].…”

PROUD-Public road urban driverless test: Architecture and results

“…Figure 9(a) shows the vehicle maneuvers that were engaged by the autonomous vehicle during the test; on the y-axis a list of the possible implemented maneuvers i.e. : GNSS-based Waypoint Following, Lane Following, Roundabout maneuver, T-Intersection maneuver, Traffic Light maneuver, and Highway Junction (those maneuvers are detailed in [15]). Table II shows some test statistics, highlighting also the GNSS performance.…”

“…The objective of the Maneuver layer is to produce a traversability map for the Control layer path planner, choosing the right maneuver from the maneuver database considering both road and traffic situations. Maneuvers, Driving Modes, and the relationships between them are described in more detail in [15]. Each maneuver represents an implementation of the base maneuver structure, which is mainly composed by a list of pre-conditions, a list of postconditions, a list of exit-conditions, and a list of gates.…”

“…The gate concept is the basic idea of this level of planning: a gate integrates information about speed, position and orientation that the vehicle must have in the future trajectory without directly planning an entire trajectory [15]. Basically, a gate is a kind of checkpoint planned in the future trajectory through which the vehicle must pass.…”