Case Study on the Tactical Level of an Autonomous Vehicle Control

In this paper, a case study is presented on the tactical level of autonomous vehicle control. Inspired by the human driver behavior, vehicle control is structured in a hierarchy on three levels: the strategic, the tactical, and the operational level. These are connected by specific links, and based on prior information and models, are transforming the input data from the environment into actuator commands on the various degree of freedom of the vehicle. The case study is presenting a simulation of a scenario, detailing the vehicle models with sensors, the collection of behavior, and the behavior selector.