An Object-Oriented Design of a World Model for Autonomous City Vehicles

Abstract

Abstract-This paper presents an object-oriented world model for the road traffic environment of driverless city vehicles. The developed World Model is a software component within the driverless 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, theWorld 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.