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020 _a9783030459055
024 7 _a10.1007/978-3-030-45905-5
_2doi
040 _aES-MaUEC
_bspa
_cES-MaUEC
_dES-MaUEC
050 4 _aTL272.57
_b2020 EB
100 1 _aArtuñedo, Antonio
_eautor
_4aut
_4http://id.loc.gov/vocabulary/relators/aut
_9674671
245 1 0 _aDecision-making Strategies for Automated Driving in Urban Environments
_cby Antonio Artuñedo.
250 _aFirst edition
264 1 _aCham
_bSpringer International Publishing :
_bImprint: Springer
_c2020
300 _a1 recurso en línea (XVIII, 195 páginas)
_b117 ilustraciones, 108 ilustraciones a color
336 _2rdacontent
_aTexto
_btxt
337 _2rdamedia
_aelectrónico
_bc
338 _2rdacarrier
_arecurso electrónico
_bcr
347 _aArchivo de texto
_bPDF
490 0 _aSpringer Theses Recognizing Outstanding Ph.D. Research
_x2190-5053
490 0 _aIntelligent Technologies and Robotics (Springer-42732)
505 0 _aIntroduction -- Literature Overview -- Decision Making Architecture -- Global Planning and Mapping -- Motion Prediction and Manoeuvre Planning -- Optimal Trajectory Generation -- Integration and Demonstrations.
520 3 _aThis book describes an effective decision-making and planning architecture for enhancing the navigation capabilities of automated vehicles in the presence of non-detailed, open-source maps. The system involves dynamically obtaining road corridors from map information and utilizing a camera-based lane detection system to update and enhance the navigable space in order to address the issues of intrinsic uncertainty and low-fidelity. An efficient and human-like local planner then determines, within a probabilistic framework, a safe motion trajectory, ensuring the continuity of the path curvature and limiting longitudinal and lateral accelerations. LiDAR-based perception is then used to identify the driving scenario, and subsequently re-plan the trajectory, leading in some cases to adjustment of the high-level route to reach the given destination. The method has been validated through extensive theoretical and experimental analyses, which are reported here in detail.
988 _aSpringer_Robotics_23062020
650 7 _2embne
_9671208
_aSistemas de asistencia a la conducción
710 2 _aSpringerLink (Online service)
_0http://id.loc.gov/authorities/names/no2005046756
_1http://viaf.org/viaf/148105729
776 0 8 _iPrinted edition:
_z9783030459048
776 0 8 _iPrinted edition:
_z9783030459062
776 0 8 _iPrinted edition:
_z9783030459079
856 4 0 _uhttps://go.openathens.net/redirector/universidadeuropea.es?url=https://doi.org/10.1007/978-3-030-45905-5
_zAcceso a este recurso digital (usuarios Universidad Europea de Madrid)
942 _2lcc
_cLE
998 _b07/2020
_dz
_eIG
_zSI