TY - GEN
T1 - Finite state machine based vehicle system for autonomous driving in urban environments
AU - Bae, Sang Hyeon
AU - Joo, Sung Hyeon
AU - Pyo, Jung Won
AU - Yoon, Jae Seong
AU - Lee, Kwanghee
AU - Kuc, Tae Yong
N1 - Publisher Copyright:
© 2020 Institute of Control, Robotics, and Systems - ICROS.
PY - 2020/10/13
Y1 - 2020/10/13
N2 - In autonomous driving systems, many approach have been developed based on high-precision sensors, high computing power, development of various networks in academia and industry. The key point of an autonomous car is that it needs to know what is happening in the driving situation and an action corresponding to this situation must be created and operated. In this paper, we propose the system structure and method of a autonomous driving car consisting of three main parts:perception, planning, control. Each main part is designed to recognize the real-time driving environment, make action plan based on finite state machine, and activate kinematic model based control. The proposed vehicle system copes with six major situations of urban environment driving, and we verified system through the simulation.
AB - In autonomous driving systems, many approach have been developed based on high-precision sensors, high computing power, development of various networks in academia and industry. The key point of an autonomous car is that it needs to know what is happening in the driving situation and an action corresponding to this situation must be created and operated. In this paper, we propose the system structure and method of a autonomous driving car consisting of three main parts:perception, planning, control. Each main part is designed to recognize the real-time driving environment, make action plan based on finite state machine, and activate kinematic model based control. The proposed vehicle system copes with six major situations of urban environment driving, and we verified system through the simulation.
KW - Action Planning
KW - Autonomous Vehicle System
KW - Finite State Machine
UR - https://www.scopus.com/pages/publications/85098095886
U2 - 10.23919/ICCAS50221.2020.9268341
DO - 10.23919/ICCAS50221.2020.9268341
M3 - Conference contribution
AN - SCOPUS:85098095886
T3 - International Conference on Control, Automation and Systems
SP - 1181
EP - 1186
BT - 2020 20th International Conference on Control, Automation and Systems, ICCAS 2020
PB - IEEE Computer Society
T2 - 20th International Conference on Control, Automation and Systems, ICCAS 2020
Y2 - 13 October 2020 through 16 October 2020
ER -