Open AccessCo‐Pilot Agent for Vehicle/Driver Cooperative and Autonomous Driving
Author(s) -
Noh Samyeul,
Park Byungjae,
An Kyounghwan,
Koo Yongbon,
Han Wooyong
Publication year - 2015
Publication title -
etri journal
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.295
H-Index - 46
eISSN - 2233-7326
pISSN - 1225-6463
DOI - 10.4218/etrij.15.0114.0095
Subject(s) - trajectory , block (permutation group theory) , software , collision avoidance , robot , engineering , motion planning , advanced driver assistance systems , path (computing) , computer science , simulation , real time computing , collision , control engineering , artificial intelligence , physics , geometry , mathematics , computer security , astronomy , programming language
ETRI's Co‐Pilot project is aimed at the development of an automated vehicle that cooperates with a driver and interacts with other vehicles on the road while obeying traffic rules without collisions. This paper presents a core block within the Co‐Pilot system; the block is named “Co‐Pilot agent” and consists of several main modules, such as road map generation, decision‐making, and trajectory generation. The road map generation builds road map data to provide enhanced and detailed map data. The decision‐making, designed to serve situation assessment and behavior planning, evaluates a collision risk of traffic situations and determines maneuvers to follow a global path as well as to avoid collisions. The trajectory generation generates a trajectory to achieve the given maneuver by the decision‐making module. The system is implemented in an open‐source robot operating system to provide a reusable, hardware‐independent software platform; it is then tested on a closed road with other vehicles in several scenarios similar to real road environments to verify that it works properly for cooperative driving with a driver and automated driving.