Lab Papers (GRASP)

Document Type

Conference Paper

Date of this Version

6-4-2008

Comments

Copyright 2008 IEEE. Reprinted from:
Ferguson, D.; Baker, C.; Likhachev, M.; Dolan, J., "A reasoning framework for autonomous urban driving," Intelligent Vehicles Symposium, 2008 IEEE , vol., no., pp.775-780, 4-6 June 2008
URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4621247&isnumber=4621124

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Abstract

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.

Keywords

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

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Date Posted: 01 October 2009