A system architecture for autonomous visual road vehicle guidance

A hierarchical system architecture for autonomous visual road vehicle guidance is presented, which consists of four levels: a vehicle level, a 4D-level, a rule-based level, and a knowledge-based level. The system architecture is applied to VaMP, a Mercedes passenger car which autonomously performs missions on German freeways. VaMP perceives the environment with its sense of vision and conventional sensors. It controls its actuators for locomotion and attention focussing.

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