For an autonomous vehicle, situation understand-ing is a key capability towards safe and comfortable decision-making and navigation. Information is in general provided bymultiple sources. Prior information about the road topology andtraffic laws can be given by a High Definition (HD) map whilethe perception system provides the description of the spaceand of road entities evolving in the vehicle surroundings. Incomplex situations such as those encountered in urban areas,the road user behaviors are governed by strong interactionswith the others, and with the road network. In such situations,reliable situation understanding is therefore mandatory to avoidinappropriate decisions. Nevertheless, situation understandingis a complex task that requires access to a consistent andnon-misleading representation of the vehicle surroundings. Thispaper proposes a formalism (an interaction lane grid) whichallows to represent, with different levels of abstraction, thenavigable and interacting spaces which must be considered forsafe navigation. A top-down approach is chosen to assess andcharacterize the relevant information of the situation. On a highlevel of abstraction, the identification of the areas of interestwhere the vehicle should pay attention is depicted. On a lowerlevel, it enables to characterize the spatial information in aunified representation and to infer additional information inoccluded areas by reasoning with dynamic objects.
翻译:对于自主车辆而言,了解状况是安全和舒适决策和航行的关键能力;一般而言,信息由多个来源提供;关于道路地形和交通法的事先信息可以由高定义(HD)地图提供,而感知系统可以描述车辆周围变化中的空间和道路实体;不复杂的情况,如在城市地区遇到的情况,道路使用者的行为受与其他人以及与公路网络的强有力互动的制约;在这种情况下,为了避免作出不适当的决定,必须了解可靠情况;然而,了解情况是一项复杂的任务,需要获得车辆周围一致和不误导的车辆代表;本文件提出一种形式主义(互动车道网),以不同程度的抽象方式代表当时可移动和互动的空间;选择自上而下的办法评估和描述有关情况的信息;在这种情形下,要避免作出不适当的决定,就必须有可靠的情况理解;然而,了解情况是一项复杂的任务,需要获得车辆周围连贯和非误导性的代表;本文件提出一种形式主义(互动车道网),以不同程度的抽象方式代表当时和互动的空间空间空间空间空间空间空间空间空间空间空间空间空间空间空间空间空间空间空间空间空间空间定位。