RT Journal Article
T1 Implementing autonomous driving behaviors using a message driven Petri Net framework
A1 López Fernández, Joaquín
A1 Sánchez Vilariño, Pablo A
A1 Sanz Domínguez, Rafael
A1 Paz Domonte, Enrique
K1 1203.04 Inteligencia Artificial
K1 1203.24 Teoría de la Programación
K1 3317 Tecnología de Vehículos de Motor
AB Most autonomous car control frameworks are based on a middleware layer with several independent modules that are connected by an inter-process communication mechanism. These modules implement basic actions and report events about their state by subscribing and publishing messages. Here, we propose an executive module that coordinates the activity of these modules. This executive module uses hierarchical interpreted binary Petri nets (PNs) to define the behavior expected from the car in different scenarios according to the traffic rules. The module commands actions by sending messages to other modules and evolves its internal state according to the events (messages) received. A programming environment named RoboGraph (RG) is introduced with this architecture. RG includes a graphical interface that allows the edition, execution, tracing, and maintenance of the PNs. For the execution, a dispatcher loads these PNs and executes the different behaviors. The RG monitor that shows the state of all the running nets has proven to be very useful for debugging and tracing purposes. The whole system has been applied to an autonomous car designed for elderly or disabled people.
PB Sensors
SN 14248220
YR 2020
FD 2020-01-13
LK http://hdl.handle.net/11093/1599
UL http://hdl.handle.net/11093/1599
LA eng
NO Sensors, 20(2): 449 (2020)
NO Ministerio de Economía y Competitividad | Ref. TRA2015-70501-C2-2-R
DS Investigo
RD 11-dic-2024