Tham khảo tài liệu 'computational intelligence in automotive applications episode 2 part 6', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 250 J. Albus et al. Fig. 12. Objects relevant to on-road driving here pedestrians and pot holes are sensed classified and placed into the world model Fig. 13. The Mobility control module tests the objects in the world model to see which ones are within a specified distance to own vehicle s goal lane here shown as a shaded green area . In this figure only Object-2 a pedestrian is in this region. Mobility manager places this ob ject into an Objects-of-Interest table along with parameters of minimum offset distance passing speed following distance and cost values to exceed these. This is part of the command to the subordinate Elemental Movement control module Input-Command A command to FollowRoad or TurnRightAtIntersection or Cross Throughln-tersection etc. along with the data specification ofthe corresponding Goal Lane in the form of a sequential list of lane elements with a specific time to be at the end of the goal lane. In the case of adjacent lanes in the same direction as the goal lane the priority of own vehicle being in the goal lane is specified with parameters such as desired or required or required-when-reach-end-of-lane. Intelligent Control of Mobility Systems 251 Input-World Model Present estimate of this module s relevant map of the road network - this is a map at the level of lane segments which are the nominal center-of-lane specifications in the form a constant curvature arcs. This module builds out the nominal lane segments for each lane element and crossreferences them with the corresponding lane elements. The world model contains estimates of the actual lane segments as provided by real-time sensing of roads and lanes and other indicators. This module will register these real-time lane segments with its initial nominal set. This module s world model contains all of the surrounding recognized objects and classifies them according to their relevance to the present commanded driving task. All objects determined to have the potential to affect own .
