Abstract
Research on autonomous driving is vigorously progressing. In city areas, autonomous driving to destinations reduces driver’s load and enables efficient logistics. In this paper, decision making methods for the city autonomous driving are proposed, which consists of One Dimensional Situation Map (ODSM) and individual driving judgments for events. The ODSM is implemented as a series of event points (c.f. intersection, lane change, and merging) with driving decisions. Consequently, the autonomous vehicle can drive in complicated city areas with the simple ODSM. The proposed methods were implemented on a test vehicle and verified on the public road.
