Human driver emulation and cognitive decision making for autonomous cars

A cognitive decision making algorithm, which tries to emulate human driver behaviour, for autonomous vehicles is presented in this paper. The decision making process, as well as the integration of the decision making with real time control in different traffic scenarios is studied through simulations using vehicle dynamics model for a car like vehicle. The decision making algorithm was found to perform better, when integrated with the ANFIS Fuzzy Logic longitudinal Control than with conventional PID control. The simulation results with the different traffic scenarios demonstrate the successful integration of the real time control and decision making modules of the Intelligent Vehicle Architecture.