Towards a viable autonomous driving research platform

We present an autonomous driving research vehicle with minimal appearance modifications that is capable of a wide range of autonomous and intelligent behaviors, including smooth and comfortable trajectory generation and following; lane keeping and lane changing; intersection handling with or without...

Full description

Saved in:
Bibliographic Details
Main Authors: Wei, Junqing, Snider, Jarrod M., Kim, Junsung, Dolan, John M., Rajkumar, Raj, Litkouhi, Bakhtiar
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Laser radar
Mobile robots
Safety
Sensors
Vehicles
Citations: Items that cite this one
Online Access:Request full text
Tags: Add Tag
No Tags, Be the first to tag this record!
Description
Summary:We present an autonomous driving research vehicle with minimal appearance modifications that is capable of a wide range of autonomous and intelligent behaviors, including smooth and comfortable trajectory generation and following; lane keeping and lane changing; intersection handling with or without V2I and V2V; and pedestrian, bicyclist, and workzone detection. Safety and reliability features include a fault-tolerant computing system; smooth and intuitive autonomous-manual switching; and the ability to fully disengage and power down the drive-by-wire and computing system upon E-stop. The vehicle has been tested extensively on both a closed test field and public roads.
ISSN:1931-0587
2642-7214
DOI:10.1109/IVS.2013.6629559