%0 Journal Article 
%A Gómez Huélamo, Carlos
%A Bergasa Pascual, Luis Miguel
%A Barea Navarro, Rafael
%A López Guillén, María Elena
%A Carrasco Limeros, Sandra
%A Sánchez, Pablo
%T Simulating use cases for the UAH autonomous electric car
%D 2019
%U http://hdl.handle.net/10017/45109
%X This paper presents the simulation use cases for
the UAH Autonomous Electric Car, related with typical driving
scenarios in urban environments, focusing on the use of hierarchical interpreted binary Petri nets in order to implement the
decision making framework of an autonomous electric vehicle.
First, we describe our proposal of autonomous system architecture, which is based on the open source Robot Operating
System (ROS) framework that allows the fusion of multiple
sensors and the real-time processing and communication of
multiple processes in different embedded processors. Then, the
paper focuses on the study of some of the most interesting
driving scenarios such as: stop, pedestrian crossing, Adaptive
Cruise Control (ACC) and overtaking, illustrating both the
executive module that carries out each behaviour based on
Petri nets and the trajectory and linear velocity that allows
to quantify the accuracy and robustness of the architecture
proposal for environment perception, navigation and planning
on a university Campus.
%K Electrónica
%K Electronics
%~ Biblioteca Universidad de Alcala