Towards a viable autonomous driving research platform

Junqing Wei, Jarrod M. Snider, Junsung Kim, John M. Dolan, Raj Rajkumar, Bakhtiar Litkouhi
2013 2013 IEEE Intelligent Vehicles Symposium (IV)  
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
more » ... ility 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.
doi:10.1109/ivs.2013.6629559 dblp:conf/ivs/WeiSKDRL13 fatcat:vlsqkd6hjnh2re2xjllsacdm3u