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A multi-level collaborative driving framework for autonomous vehicles

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2 Author(s)
Junqing Wei ; Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Dolan, J.M.

This paper proposes a multi-level collaborative driving framework (MCDF) for human-autonomous vehicle interaction. There are three components in MCDF; the mission-behavior-motion block diagram, the functionality-module relationship and the human participation level table. Through integration of the three components, a human driver can cooperate with the vehicle's intelligence to achieve better driving performance, robustness and safety. The MCDF is successfully implemented in TROCS, a real-time autonomous vehicle control system developed by the Tartan Racing Team for the 2007 DARPA Urban Challenge. The performance of MCDF is analyzed and a preliminary test in TROCS simulation mode shows that MCDF is effective in improving the driving performance.

Published in:

Robot and Human Interactive Communication, 2009. RO-MAN 2009. The 18th IEEE International Symposium on

Date of Conference:

Sept. 27 2009-Oct. 2 2009