Conference proceeding
Steering behaviors for autonomous vehicles in virtual environments
IEEE Proceedings. VR 2005. Virtual Reality, 2005, pp.155-162
2005
DOI: 10.1109/VR.2005.1492769
Abstract
This paper presents steering behaviors that control autonomous vehicles populating roadways in virtual urban environments. Behavior programming is facilitated by a set of representations of the environment that use convenient frames of reference in natural coordinate systems. Roadway surfaces are modeled as three-dimensional ribbons that make the local orientation of the road explicit and allow relative distances on the road to be simply computed. Roads and intersections are connected to form a ribbon network. An egocentric representation called a path melds road and intersection segments into a single, continuous ribbon that captures the vehicle's short-term plan of navigation. A topological structure called a route supports wayfinding. We describe how the interrelated ribbon, path, and route representations are used to build multi-component behaviors that plan routes and safely navigate through traffic filled road networks - tracking lanes, shifting lanes to avoid congestion, anticipating lane changes needed to make turns dictated by the route, negotiating intersections, and respecting the rules of the road.
Details
- Title: Subtitle
- Steering behaviors for autonomous vehicles in virtual environments
- Creators
- Hongling Wang - Dept of Comput. Sci., Iowa Univ., IA, USAJ.K. Kearney - Dept of Comput. Sci., Iowa Univ., IA, USAJ. Cremer - Dept of Comput. Sci., Iowa Univ., IA, USAP. Willemsen
- Resource Type
- Conference proceeding
- Publication Details
- IEEE Proceedings. VR 2005. Virtual Reality, 2005, pp.155-162
- DOI
- 10.1109/VR.2005.1492769
- ISSN
- 1087-8270
- eISSN
- 2375-5326
- Publisher
- IEEE
- Language
- English
- Date published
- 2005
- Academic Unit
- Nursing; Injury Prevention Research Center; Computer Science
- Record Identifier
- 9984383305302771
Metrics
7 Record Views