Design and Implementation of a Prototype Rulebase for Autonomous Vehicle Navigation

• Main Authors: Nieh, Hong-wen, 聶鴻文
• Other Authors: Ming-Yang Chern
• Format: Others
• Language: zh-TW
• Published: 1998
• Online Access: http://ndltd.ncl.edu.tw/handle/01958701016429805448

碩士 === 國立中正大學 === 電機工程學系 === 86 === The objective of this research is to develop a navigation rule base forthe navigation system of the autonomous vehicle. We have proposed a conciserule expression language to express the rules of the rule base. The languagecovers well the environment conditions that the vehicle may encounter and theresponding actions the vehicle may need to take. The rule base we have designed can be divided into four pratitions: therule set translator, rule processor, condition handler, and action handler.We have also studied the interfaces of rule base and other systems of the autonomous vehicle. Integrating the four partitions and considering theinterfaces of other systems, we have tested the rule base using some examplerule sets. In the present time, testing of the rule basecontinuous execution on simulated vehicle sensing/control has been completed.The results are correct for different rule sets given.