Cartography for cooperative manoeuvres with autonomous land vehicles

González Fernández-Vallejo, Carlos; Pedro Lucio, María Teresa de; Alonso Ruiz, Javier; Milanés Montero, Vicente; Onieva Caracuel, Enrique y Pérez, Joshué (2011). Cartography for cooperative manoeuvres with autonomous land vehicles. "Journal of Navigation", v. 64 (n. null); pp. 141-155. ISSN 03734633.


Título: Cartography for cooperative manoeuvres with autonomous land vehicles
  • González Fernández-Vallejo, Carlos
  • Pedro Lucio, María Teresa de
  • Alonso Ruiz, Javier
  • Milanés Montero, Vicente
  • Onieva Caracuel, Enrique
  • Pérez, Joshué
Tipo de Documento: Artículo
Título de Revista/Publicación: Journal of Navigation
Fecha: 2011
Volumen: 64
Escuela: Centro de Automática y Robótica (CAR) UPM-CSIC
Departamento: Otro
Licencias Creative Commons: Reconocimiento - Sin obra derivada - No comercial

Texto completo

Vista Previa
PDF (Document Portable Format) - Se necesita un visor de ficheros PDF, como GSview, Xpdf o Adobe Acrobat Reader
Descargar (782kB) | Vista Previa


This article presents a cartographic system to facilitate cooperative manoeuvres among autonomous vehicles in a well-known environment. The main objective is to design an extended cartographic system to help in the navigation of autonomous vehicles. This system has to allow the vehicles not only to access the reference points needed for navigation, but also noticeable information such as the location and type of traffic signals, the proximity to a crossing, the streets en route, etc. To do this, a hierarchical representation of the information has been chosen, where the information has been stored in two levels. The lower level contains the archives with the Universal Traverse Mercator (UTM) coordinates of the points that define the reference segments to follow. The upper level contains a directed graph with the relational database in which streets, crossings, roundabouts and other points of interest are represented. Using this new system it is possible to know when the vehicle approaches a crossing, what other paths arrive at that crossing, and, should there be other vehicles circulating on those paths and arriving at the crossing, which one has the highest priority. The data obtained from the cartographic system is used by the autonomous vehicles for cooperative manoeuvres.

Más información

ID de Registro: 13773
Identificador DC:
Identificador OAI:
Identificador DOI: 10.1017/S0373463310000275
URL Oficial:
Depositado por: Memoria Investigacion
Depositado el: 31 Ene 2013 12:26
Ultima Modificación: 21 Abr 2016 13:08
  • GEO_UP4
  • Open Access
  • Open Access
  • Sherpa-Romeo
    Compruebe si la revista anglosajona en la que ha publicado un artículo permite también su publicación en abierto.
  • Dulcinea
    Compruebe si la revista española en la que ha publicado un artículo permite también su publicación en abierto.
  • Recolecta
  • InvestigaM
  • Observatorio I+D+i UPM
  • OpenCourseWare UPM