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An Architecture for Automated Driving in Urban Environments

Gang Chen 1 Thierry Fraichard 1
1 E-MOTION - Geometry and Probability for Motion and Action
Inria Grenoble - Rhône-Alpes, LIG - Laboratoire d'Informatique de Grenoble
Abstract : This paper presents a novel navigation architecture for automated car-like vehicles in urban environments. Motion safety is a critical issue in such environments given that they are partially known and highly dynamic with moving objects (other vehicles, pedestrians). The main feature of the navigation architecture proposed is its ability to make safe motion decisions in real-time, thus taking into account the harsh constraints imposed by the type of environments considered. The architecture is based upon an efficient publish/subscribe middleware system that allows modularity in design and the easy integration of the key functional components required for autonomous navigation, namely perception, localisation, mapping, real-time motion planning and motion tracking. After an overall presentation of the architecture and its main modules, the paper focuses on the motion components of the architecture. Experimental results carried out on a simulated Cycab vehicle are presented.
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Submitted on : Friday, October 5, 2007 - 9:46:20 AM
Last modification on : Thursday, October 21, 2021 - 3:53:34 AM
Long-term archiving on: : Thursday, September 27, 2012 - 1:01:15 PM


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  • HAL Id : inria-00176984, version 1



Gang Chen, Thierry Fraichard. An Architecture for Automated Driving in Urban Environments. Laugier, C. and Siegwart, R. Field and Service Robotics, 42, Springer, 2008, Springer Tracts in Advanced Robotics Series. ⟨inria-00176984⟩



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