Article
Journal/Revue :
Computing and Informatics (CAI)
ISSN : 1335-9150
Publisher :
Institute of Informatics, SAS Dúbravská cesta 9 845 07 Bratislava Slovakia
Informations
Période : August 2023
Volume : 42 Numéro : 3
Pages : 716-740
Détails
Integration of a Contextual Observation System in a Multi-Process Architecture for Autonomous Vehicles
Ahmed-Chawki Chaouche Jean-Michel Ilié Assem Hebik François Pêcheux
We propose a software layered architecture for autonomous vehicles whose efficiency is driven by pull-based acquisition of sensor data. This multiprocess software architecture, to be embedded into the control loop of these vehicles, includes a Belief-Desire-Intention agent that can consistently assist the achievement of intentions. Since driving on roads implies huge dynamic considerations, we tackle both reactivity and context awareness considerations on the execution loop of the vehicle. While the proposed architecture gradually offers 4 levels of reactivity, from arch-reflex to the deep modification of the previously built execution plan, the observation module concurrently exploits noise filtering and introduces frequency control to allow symbolic feature extraction while both fuzzy and first order logic management are used to enforce consistency and certainty over the context information properties. The presented use-case, the daily delivery of a network of pharmacy offices by an autonomous vehicle taking into account contextual (spatio-temporal) traffic features, shows the efficiency and the modularity of the architecture, as well as the scalability of the reaction levels.
Mots clés :
Autonomous vehicle Multi-process architecture Context-awareness Contextual planning Reactive behavioral strategies Logical context modeling
Réf. de citation :
misc-lab-420
DOI :
10.31577/cai_2023_3_716
Lien :
Texte intégral
ACM :
A.-C. Chaouche, J.-M. Ilié, A. Hebik and F. Pêcheux. 2023. Integration of a Contextual Observation System in a Multi-Process Architecture for Autonomous Vehicles. Computing and Informatics (CAI), 42, 3 (August 2023), Institute of Informatics, SAS Dúbravská cesta 9 845 07 Bratislava Slovakia, 716-740. DOI: https://doi.org/10.31577/cai_2023_3_716.
APA :
Chaouche, A.-C., Ilié, J.-M., Hebik, A. & Pêcheux, F. (2023, August). Integration of a Contextual Observation System in a Multi-Process Architecture for Autonomous Vehicles. Computing and Informatics (CAI), 42(3), Institute of Informatics, SAS Dúbravská cesta 9 845 07 Bratislava Slovakia, 716-740. DOI: https://doi.org/10.31577/cai_2023_3_716
IEEE :
A.-C. Chaouche, J.-M. Ilié, A. Hebik and F. Pêcheux, "Integration of a Contextual Observation System in a Multi-Process Architecture for Autonomous Vehicles". Computing and Informatics (CAI), vol. 42, no. 3, Institute of Informatics, SAS Dúbravská cesta 9 845 07 Bratislava Slovakia, pp. 716-740, August, 2023. DOI: https://doi.org/10.31577/cai_2023_3_716.
BibTeX :
@article{misc-lab-420,
author = {Chaouche, Ahmed-Chawki and Ili\'{e}, Jean-Michel and Hebik, Assem and P\^{e}cheux, François},
title = {Integration of a Contextual Observation System in a Multi-Process Architecture for Autonomous Vehicles},
journal = {Computing and Informatics (CAI)},
volume = {42},
number = {3},
issn = {1335-9150},
pages = {716--740},
publisher = {Institute of Informatics, SAS Dúbravská cesta 9 845 07 Bratislava Slovakia},
year = {2023},
month = {August},
doi = {10.31577/cai\_2023\_3\_716},
url = {https://www.cai.sk/ojs/index.php/cai/article/view/2023\_3\_716},
keywords = {Autonomous vehicle, multi-process architecture, context-awareness, contextual planning, reactive behavioral strategies, logical context modeling}
}
RIS :
TI  - Integration of a Contextual Observation System in a Multi-Process Architecture for Autonomous Vehicles
AU - A.-C. Chaouche
AU - J.-M. Ilié
AU - A. Hebik
AU - F. Pêcheux
PY - 2023
SN - 1335-9150
JO - Computing and Informatics (CAI)
VL - 42
IS - 3
SP - 716
EP - 740
PB - Institute of Informatics, SAS Dúbravská cesta 9 845 07 Bratislava Slovakia
AB - We propose a software layered architecture for autonomous vehicles whose efficiency is driven by pull-based acquisition of sensor data. This multiprocess software architecture, to be embedded into the control loop of these vehicles, includes a Belief-Desire-Intention agent that can consistently assist the achievement of intentions. Since driving on roads implies huge dynamic considerations, we tackle both reactivity and context awareness considerations on the execution loop of the vehicle. While the proposed architecture gradually offers 4 levels of reactivity, from arch-reflex to the deep modification of the previously built execution plan, the observation module concurrently exploits noise filtering and introduces frequency control to allow symbolic feature extraction while both fuzzy and first order logic management are used to enforce consistency and certainty over the context information properties. The presented use-case, the daily delivery of a network of pharmacy offices by an autonomous vehicle taking into account contextual (spatio-temporal) traffic features, shows the efficiency and the modularity of the architecture, as well as the scalability of the reaction levels.
KW - Autonomous vehicle
KW - multi-process architecture
KW - context-awareness
KW - contextual planning
KW - reactive behavioral strategies
KW - logical context modeling
DO - 10.31577/cai_2023_3_716
UR - https://www.cai.sk/ojs/index.php/cai/article/view/2023_3_716
ID - misc-lab-420
ER -