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 shortterm 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.
Original language | English (US) |
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Title of host publication | IEEE Virtual Reality 2005 - Proceedings |
Editors | B. Froehlich, S. Julier, H. Takemura |
Pages | 155-162 |
Number of pages | 8 |
State | Published - Dec 12 2005 |
Event | IEEE Virtual Reality 2005 - Bonn, Germany Duration: Mar 12 2005 → Mar 16 2005 |
Other
Other | IEEE Virtual Reality 2005 |
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Country/Territory | Germany |
City | Bonn |
Period | 3/12/05 → 3/16/05 |
Keywords
- Autonomous agent behavior
- Steering behavior
- Virtual environments