RT info:eu-repo/semantics/conferenceObject
T1 Simulating use cases for the UAH autonomous electric car
A1 Gómez Huélamo, Carlos
A1 Bergasa Pascual, Luis Miguel
A1 Barea Navarro, Rafael
A1 López Guillén, María Elena
A1 Carrasco Limeros, Sandra
A1 Sánchez, Pablo
K1 Electrónica
K1 Electronics
AB This paper presents the simulation use cases forthe UAH Autonomous Electric Car, related with typical drivingscenarios in urban environments, focusing on the use of hierarchical interpreted binary Petri nets in order to implement thedecision making framework of an autonomous electric vehicle.First, we describe our proposal of autonomous system architecture, which is based on the open source Robot OperatingSystem (ROS) framework that allows the fusion of multiplesensors and the real-time processing and communication ofmultiple processes in different embedded processors. Then, thepaper focuses on the study of some of the most interestingdriving scenarios such as: stop, pedestrian crossing, AdaptiveCruise Control (ACC) and overtaking, illustrating both theexecutive module that carries out each behaviour based onPetri nets and the trajectory and linear velocity that allowsto quantify the accuracy and robustness of the architectureproposal for environment perception, navigation and planningon a university Campus.
PB IEEE
SN 978-1-5386-7025-5
YR 2019
FD 2019-10
LK http://hdl.handle.net/10017/45109
UL http://hdl.handle.net/10017/45109
LA eng
NO 2019 IEEE Intelligent Transportation Systems Conference (ITSC), Auckland, New Zealand, 27-30 Oct. 2019
NO Ministerio de Economía y Competitividad
DS MINDS@UW
RD 27-abr-2024