In this paper, we present the concept of cooperative autonomous driving using cooperative perception. The cooperative perception can provide upcoming traffic situations ahead, even beyond line-of-sight and field-of-view. From a control perspective, a spatial map for navigation planning is extended up to the boundary of connected vehicles in a see-through manner. By leveraging this augmented perception capability, a better driving decision can be accomplished in terms of traffic flow efficiency and safety improvement. For this purpose, we propose a mirror neuron inspired intention awareness algorithm along with planning and control methods using the algorithm. We demonstrate the feasibility of our proposals through simulations and experiments on the road.


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    Title :

    Cooperative autonomous driving using cooperative perception and mirror neuron inspired intention awareness


    Contributors:
    Kim, Seong-Woo (author) / Liu, Wei (author) / Ang, Marcelo H. (author) / Seo, Seung-Woo (author) / Rus, Daniela (author)


    Publication date :

    2014-11-01


    Size :

    972446 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English