A multi-level collaborative driving framework for autonomous vehicles

Junqing Wei and John M. Dolan
The 18th IEEE International Symposium on Robot and Human Interactive Communication, September, 2009, pp. 40-45.


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Abstract
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.

Keywords
autonomous driving, human-robot interaction, TROCS, Urban Challenge

Notes
Sponsor: General Motors
Associated Project(s): Robust Autonomous Freeway Driving Behaviors

Text Reference
Junqing Wei and John M. Dolan, "A multi-level collaborative driving framework for autonomous vehicles ," The 18th IEEE International Symposium on Robot and Human Interactive Communication, September, 2009, pp. 40-45.

BibTeX Reference
@inproceedings{Dolan_2009_6738,
   author = "Junqing Wei and John M Dolan",
   title = "A multi-level collaborative driving framework for autonomous vehicles ",
   booktitle = "The 18th IEEE International Symposium on Robot and Human Interactive Communication",
   pages = "40-45",
   month = "September",
   year = "2009",
}