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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 thedoi:10.1109/ivs.2013.6629559 dblp:conf/ivs/WeiSKDRL13 fatcat:vlsqkd6hjnh2re2xjllsacdm3u