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Urban driving is a demanding task for autonomous vehicles as it requires the development and integration of several challenging capabilities, including high-level route planning, interaction with other vehicles, complex maneuvers, and ultra-reliability. In this paper, we present a reasoning framework for an autonomous vehicle navigating through urban environments. Our approach combines route-level planning, context-sensitive local decision making, and sophisticated motion planning to produce safe, intelligent actions for the vehicle. We provide examples from an implementation on an autonomous passenger vehicle that has driven over 3000 autonomous kilometers and competed in, and won, the Urban Challenge.
automated highways, mobile robots, path planning, remotely operated vehicles, road safety, road vehicles, autonomous passenger vehicle, autonomous urban driving, autonomous vehicles, complex maneuvers, context-sensitive local decision making, high-level route planning, motion planning, route-level planning, vehicle intelligent actions
Date Posted: 01 October 2009