Decision-Making for Automated Vehicles Using a Hierarchical Behavior-Based Arbitration Scheme

Behavior planning and decision-making are some of the biggest challenges for highly automated systems. A fully automated vehicle (AV) is confronted with numerous tactical and strategical choices. Most state-of-the-art AV platforms implement tactical and strategical behavior generation using finite state machines. However, these usually result in poor explainability, maintainability and scalability. Research in robotics has raised many architectures to mitigate these problems, most interestingly behavior-based systems and hybrid derivatives. Inspired by these approaches, we propose a hierarchical behavior-based architecture for tactical and strategical behavior generation in automated driving. It is a generalizing and scalable decision-making framework, utilizing modular behavior blocks to compose more complex behaviors in a bottom-up approach. The system is capable of combining a variety of scenario- and methodology-specific solutions, like POMDPs, RRT* or learning-based behavior, into one understandable and traceable architecture. We extend the hierarchical behavior-based arbitration concept to address scenarios where multiple behavior options are applicable but have no clear priority against each other. Then, we formulate the behavior generation stack for automated driving in urban and highway environments, incorporating parking and emergency behaviors as well. Finally, we illustrate our design in an explanatory evaluation

Intelligent Management and Efficient Operation of Big Data

This chapter details how Big Data can be used and implemented in networking and computing infrastructures. Specifically, it addresses three main aspects: the timely extraction of relevant knowledge from heterogeneous, and very often unstructured large data sources, the enhancement on the performance of processing and networking (cloud) infrastructures that are the most important foundational pillars of Big Data applications or services, and novel ways to efficiently manage network infrastructures with high-level composed policies for supporting the transmission of large amounts of data with distinct requisites (video vs. non-video). A case study involving an intelligent management solution to route data traffic with diverse requirements in a wide area Internet Exchange Point is presented, discussed in the context of Big Data, and evaluated.Comment: In book Handbook of Research on Trends and Future Directions in Big Data and Web Intelligence, IGI Global, 201