Towards a viable autonomous driving research platform

Author

Junqing Wei ; Snider, Jarrod M. ; Junsung Kim ; Dolan, John M. ; Rajkumar, R. ; Litkouhi, Bakhtiar

Author_Institution

Dept. of Electr. & Comput. Eng., Carnegie Mellon Univ., Pittsburgh, PA, USA

fYear

2013

Firstpage

763

Lastpage

770

Abstract

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.

Keywords

automated highways; fault tolerant computing; mobile robots; pedestrians; reliability; road safety; road vehicles; trajectory control; E-stop; appearance modifications; autonomous behaviors; autonomous driving research platform; autonomous driving research vehicle; bicyclist detection; comfortable trajectory generation; computing system; drive-by-wire system; fault-tolerant computing system; intelligent behaviors; intersection handling; intuitive autonomous-manual switching; lane changing; lane keeping; pedestrian detection; public roads; reliability features; safety features; workzone detection; Cameras; Laser radar; Mobile robots; Safety; Sensors; Vehicles;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Vehicles Symposium (IV), 2013 IEEE

ISSN

1931-0587

Print_ISBN

978-1-4673-2754-1

Type

conf

DOI

10.1109/IVS.2013.6629559

Filename

6629559