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Autonomous Driving in Urban Environments: Approaches, Lessons and Challenges
Abstract The development of autonomous vehicles for …
The development of autonomous vehicles for urban driving has seen rapid progress in the past 30 years. This paper provides a summary of the current state of the art in autonomous driving in urban environments, based primarily on the experiences of the authors in the 2007 DARPA Urban Challenge (DUC). The paper briefly summarizes the approaches that different teams used in the DUC, with the goal of describing some of the challenges that the teams faced in driving in urban environments. The paper also highlights the long term research challenges that must be overcome in order to enable autonomous driving and points to opportunities for new technologies to be applied in improving vehicle safety, exploiting intelligent road infrastructure and enabling robotic vehicles operating in human environments.
vehicles operating in human environments.  +
Authors Mark Campbell, Magnus Egerstedt, Jonathan P How, Richard M Murray  +
ID 2009q  +
Source Philosophical Transactions of the Royal Society - A, 2009 (Submitted)  +
Tag cehm09-ptrs-a  +
Title Autonomous Driving in Urban Environments: Approaches, Lessons and Challenges +
Type Preprint  +
Categories Papers
Modification date
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15 May 2016 06:16:27  +
URL
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http://www.cds.caltech.edu/~murray/preprints/cehm09-ptrs-a_s.pdf  +
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Autonomous Driving in Urban Environments: Approaches, Lessons and Challenges + Title
 

 

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