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

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Furda, Andrei
Vlacic, Ljubo
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Yinhai Wang

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2010
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581936 bytes

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Univ Calif, San Diego (UCSD), San Diego, CA

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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.

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2010 IEEE INTELLIGENT VEHICLES SYMPOSIUM (IV)

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© 2010 IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE.

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Automation engineering

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