A computational model of driving for autonomous vehicles
Abstract
Driving models are needed by many researchers to improve traffic safety and to advance autonomous vehicle design. However, existing models of driving maneuver selection are generally too abstract and do not describe the computation needed to select actions after observing objects. In this paper we present a dynamic task analysis and use it to develop a computational model of driving in traffic. This model has been implemented in a driving program called Ulysses as part of our research program in robot vehicle development. Ulysses encodes legal, safe and practical driving rules as constraints on acceleration and lane selection. The application of constraints depends on particular objects in the world; thus, when constraints are evaluated, they show exactly where the driver needs to look at that moment. We explain the specific knowledge in Ulysses with illustrations from a series of driving scenarios of increasing complexity. We also briefly discuss the computer perception system that Ulysses needs. Finally, we describe how Ulysses drives a robot in a simulated environment provided by our new traffic simulator called PHAROS, which is similar in spirit to previous simulators (such as NETSIM) but far more detailed. Our new driving model is a key component for developing autonomous vehicles and intelligent driver aids that operate in traffic, and provides a new tool for traffic research in general.Download Info
If you experience problems downloading a file, check if you have the proper application to view it first. In case of further problems read the IDEAS help page. Note that these files are not on the IDEAS site. Please be patient as the files may be large.As the access to this document is restricted, you may want to look for a different version under "Related research" (further below) or search for a different version of it.
Bibliographic Info
Article provided by Elsevier in its journal Transportation Research Part A: Policy and Practice.
Volume (Year): 27 (1993)
Issue (Month): 1 (January)
Pages: 23-50
Contact details of provider:
Web page: http://www.elsevier.com/wps/find/journaldescription.cws_home/547/description#description
Order Information:
Postal: http://www.elsevier.com/wps/find/supportfaq.cws_home/regional
Web: https://shop.elsevier.com/order?id=547&ref=547_01_ooc_1&version=01
Related research
Keywords:References
No references listed on IDEASYou can help add them by filling out this form.
Citations
Lists
This item is not listed on Wikipedia, on a reading list or among the top items on IDEAS.Statistics
Access and download statisticsCorrections
When requesting a correction, please mention this item's handle: RePEc:eee:transa:v:27:y:1993:i:1:p:23-50For technical questions regarding this item, or to correct its authors, title, abstract, bibliographic or download information, contact: (Wendy Shamier).
If you have authored this item and are not yet registered with RePEc, we encourage you to do it here. This allows to link your profile to this item. It also allows you to accept potential citations to this item that we are uncertain about.
If references are entirely missing, you can add them using this form.
If the full references list an item that is present in RePEc, but the system did not link to it, you can help with this form.
If you know of missing items citing this one, you can help us creating those links by adding the relevant references in the same way as above, for each refering item. If you are a registered author of this item, you may also want to check the "citations" tab in your profile, as there may be some citations waiting for confirmation.
Please note that corrections may take a couple of weeks to filter through the various RePEc services.