Chapter 8. Automated Driving
CHAPTER 8 Automated Driving Jorge Villagra1, Leopoldo Acosta2, Antonio Artuñedo1, Rosa Blanco3, Miguel Clavijo4, Carlos Fernández5, Jorge Godoy1, Rodolfo Haber1, Felipe Jiménez4, Carlos Martínez4, José E. Naranjo4, Pedro J. Navarro5, Ana Paúl3 and Francisco Sánchez3 1CSIC, Madrid, Spain 2Universidad de La Laguna, Santa Cruz de Tenerife, Spain 3CTAG - Centro Tecnolo´gico de Automocio´n de Galicia, Porrin˜o, Spain 4Universidad Polite´cnica de Madrid, Madrid, Spain 5Universidad Polite´cnica de Cartagena, Cartagena, Spain Contents 8.1 Fundamentals 275 8.2 Technology Bricks 279 8.2.1 Control Architectures 279 8.2.2 Situation Awareness and Risk Assessment 283 8.2.3 Decision Making 286 8.2.4 DriverÀVehicle Interaction 289 8.2.5 Motion Planning 292 8.2.6 Vehicle Control 304 8.3 Cooperative Automated Driving 310 8.3.1 Platooning 311 8.3.2 Urban Road Transport 314 8.4 Verification and Validation 315 8.5 Main Initiatives and Applications 317 8.5.1 Prototypes 317 8.5.2 Projects 322 8.5.3 Special Applications 327 8.6 Socioregulatory Aspects 332 8.6.1 Legal Pathways 332 8.6.2 Ethical Aspects 338 References 339 8.1 FUNDAMENTALS Following the Webster definition, an autonomous vehicle “has the right or power of self-government,” “exists or act separately from other things Intelligent Vehicles © 2018 Elsevier Inc. DOI: http://dx.doi.org/10.1016/B978-0-12-812800-8.00008-4 All rights reserved. 275 276 Intelligent Vehicles or people,” “is undertaken or carried on without outside control,” and “responds, reacts, or develops independently of the whole.” If we take these words at face value, it is therefore clear that there is a common mistake confusing this definition with the kind of systems cur- rently appearing on mass media, where the driver has very little interven- tion.
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