A Simulation and Design System for Tactical Driving Algorithms
Abstract
Intelligentvehicles must make real-time tactical level decisions to drive in mixedtraffic environments. Since repeatable testing of different algorithms in rare and potentially dangerous situations is necessary, we have developed a custom simulator for this task. SHIVA (Simulated Highways for Intelligent Vehicle Algorithms) mirrors many aspects of the Carnegie Mellon Navlab [26, 13] system, enabling algorithms developed in simulation to be implemented on the robot with minimal modification. Realistic sensor models encourage developers to create algorithms that will work on real robots. Incremental development is facilitated through hierarchies for vehicles, sensors and reasoning objects. An integrated simulation and animation environment provides interactive graphical debugging capabilities.
BibTeX
@conference{Sukthankar-1996-16244,author = {Rahul Sukthankar and John Hancock and Dean Pomerleau and Chuck Thorpe},
title = {A Simulation and Design System for Tactical Driving Algorithms},
booktitle = {Proceedings of AI, Simulation and Planning in High Autonomy Systems},
year = {1996},
month = {March},
}