Title :
A robust autonomous freeway driving algorithm
Author :
Wei, Junqing ; Dolan, John M.
Author_Institution :
Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA
Abstract :
This paper introduces a robust prediction- and cost-function based algorithm for autonomous freeway driving. A prediction engine is built so that the autonomous vehicle is able to estimate human drivers´ intentions. A cost function library is used to help behavior planners generate the best strategies. Finally, the algorithm is tested in a real-time vehicle simulation platform used by the Tartan Racing Team for the DARPA Urban Challenge 2007.
Keywords :
road traffic; DARPA Urban Challenge 2007; Tartan Racing Team; cost function; human driver intention; prediction function; robust autonomous freeway driving algorithm; Cost function; Engines; Humans; Libraries; Mobile robots; Remotely operated vehicles; Robustness; Testing; Traffic control; Vehicle driving;
Conference_Titel :
Intelligent Vehicles Symposium, 2009 IEEE
Conference_Location :
Xi´an
Print_ISBN :
978-1-4244-3503-6
Electronic_ISBN :
1931-0587
DOI :
10.1109/IVS.2009.5164420
