Title :
A system architecture for autonomous visual road vehicle guidance
Author :
Maurer, M. ; Dickmanns, E.D.
Author_Institution :
Inst. fur Systemdynamik und Flugmechanik, Univ. der Bundeswehr Munchen, Neubiberg, Germany
Abstract :
A hierarchical system architecture for autonomous visual road vehicle guidance is presented, which consists of four levels: a vehicle level, a 4D-level, a rule-based level, and a knowledge-based level. The system architecture is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focussing
Keywords :
automobiles; intelligent control; mobile robots; robot vision; transport control; 4D-level; Mercedes passenger car; VaMP; actuator control; attention focussing; autonomous visual road vehicle guidance; freeways; hierarchical system architecture; knowledge-based level; locomotion; rule-based level; system architecture; vehicle level; Computer architecture; Control systems; Electric variables control; Hierarchical systems; Mobile robots; Navigation; Remotely operated vehicles; Road vehicles; Space vehicles; Traffic control;
Conference_Titel :
Intelligent Transportation System, 1997. ITSC '97., IEEE Conference on
Conference_Location :
Boston, MA
Print_ISBN :
0-7803-4269-0
DOI :
10.1109/ITSC.1997.660538
