Method for Building an Environment Model of Autonomous Vehicles

J.A. Lyakhovenko, S. Mukhamedzhanov, I.I. Komarov


An environment model describes a set of abstractions designed to represent all significant physical and virtual elements in space. The use of asset models is especially important when autonomous vehicles (AVs) encounter unforeseen circumstances or technical failures. In the proposed method for constructing a model of environment, the AV first collects all information about objects in the external environment, after which it conducts cluster analysis to reduce them to certain types. Then it determines possible states and behavior scenarios for each of the defined types. In the process of further research, the vehicle uses technical vision systems to detect an object and, based on certain characteristics, classify it as the closest type with a certain threshold (distance from the cluster). If such an operation is impossible, a new type is created.

The presented method for constructing a space model determines the automated collection and description of information about the external environment, which makes it possible to increase the efficiency of autonomous vehicles due to the possibility of continuous updating of the space model. In the future, it is planned to refine the model in terms of determining the degree of confidence in the new information received.


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