V2X based Human-centered decision-making for Autonomous Mobile Robots Operating in Urban Outdoor Environment

Abstract:
Human-centered decision-making in autonomous driving is one of the most crucial aspects regarding user acceptance evaluation and behaviour planning issues. The scope of this research paper is to undertake an examination of the intricacies associated with human-robot interaction within urban shared environments with Vulnerable Road Users (VRU). The goal is to not only rely on the data collected from the robot sensors but also to receive environment information from the infrastructure, pedestrians and other vehicles through V2X communication. Integration of camera, radar and GNSS data received from the robot and the other entities of the environment serves as a robust input for optimizing the decisionmaking process. Subsequently, a V2X frame work for data transfer between the roadside units (RSU) and the vehicle on board units is provided in this paper. This V2X communication protocol coupled with the parameters considered in this paper to achieve the optimum level of human acceptance facilitates the development of suitable architecture for orchestrating the robot system in the human-centered decision-making. This paper emphasizes the importance of data received from the infrastructure, pedestrians, vehicles and robots via DSRC, Wifi, WiMAX and LTE technologies to analyze human expectations of robots, translating these user requirements into technical measures and further use the comprehensive data from the robot and its environment to translate the resulting information into a decision-making system.