One solution of decision making algorithm for semi-autonomous driving

The topic of decision making algorithm in semi-autonomous driving is discussed in this paper. Semi-autonomous vehicle is capable of many aspects of autonomous driving. But, there are situations that semi-autonomous driving algorithm is not capable to handle. In such situations vehicle control is given to driver. This kind of an algorithm, enables autonomous driving up to a point where the algorithm itself, is not sure of the next step. In order to handle these situations an application was created that supports autonomous driving under restricted conditions and control switch. The application itself is embedded in the real time operating system running on ADAS development board.