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Using Ontology-Based Traffic Models for More Efficient Decision Making of Autonomous Vehicles

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1 Author(s)
Regele, R. ; Univ. of Stuttgart, Stuttgart

The paper describes how a high-level abstract world model can be used to support the decision-making process of an autonomous driving system. The approach uses a hierarchical world model and distinguishes between a low-level model for the trajectory planning and a high-level model for solving the traffic coordination problem. The abstract world model used in the CyberCars-2 project is presented. It is based on a topological lane segmentation and introduces relations to represent the semantic context of the traffic scenario. This makes it much easier to realize a consistent and complete driving control system, and to analyze, evaluate and simulate such a system.

Published in:

Autonomic and Autonomous Systems, 2008. ICAS 2008. Fourth International Conference on

Date of Conference:

16-21 March 2008